20909 双腕ロボットによる板金曲げ加工の動作計画(ロボティクス(2):運動軌道生成,OS12 ロボティクス)

概要

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In this study the method which generates the working plan of a dual manipulator system for robotic sheet metal bending is proposed. In work planning for robotic sheet metal bending, there are a lot of grasping position candidates and some re-grasping patterns is not one are possible. In work planning for robotic sheet metal bending, grasping position is determined using geometry of a sheet metal, re-grasping pattern is determined based on human bending operation. The each orbit of dual manipulators is determined by Repeated Direct Kinematics method, respected. Computer simulation is carried out based on the proposed method and illustrative examples and results of simulation are given. The effectiveness of this method is discussed.
一般社団法人日本機械学会の論文
2006-03-09