直接教示の困難な場合のロボットによる研磨作業の制御 : 遠隔操作における熟練作業者のスキルの獲得方法と制御への応用(機械力学,計測,自動制御)

概要

論文の詳細を見る
Finishing is still owing to human operators because of difficulties of controlling cutting volume and tuning of the control parameters in current control methods. This paper proposes a polishing control method based on human operator's teleoperation model. During teleoperated polishing work by an expert, the status of a master slave system is monitored to identify a teleoperation model of the polishing. A polishing robot control method is developed based on the teleoperation model. Such a model consists of two sub-models : one is for describing predetermined force decided by static information such as the material of the work piece, polishing tool, etc. ; the other is for adapting applying force to dynamic variation of polishing process. The effectiveness of the proposed method has been demonstrated by polishing experiments for two kinds of materials.
一般社団法人日本機械学会の論文
2004-05-25