ロボットによる製品の工作精度計測に関する研究

概要

論文の詳細を見る
Automatic inspection of structure by robot are examined. Above all, automatic measurement system of product accuracy are proposed. The system is consist of two subsystems. One is measurement system of product's shape using multi-link manipulator with laser displacement sensor. The other is the system that calculates product accuracy on assemble stage. It is necessary to compare the measured shape of the product and the design shape given by design data from CAD system to calculate the accuracy. In this system, the manipulator measures real product shape and some edge position of the products. Using the edge data, the system estimates the position of the product and rotate angle by genetic algorithm and transforms measured shape data to compare with design shape data. Measurement experiments are carried out, it is shown that the effectiveness of the motion planning method for measurement of product shape with the 4 link manipulator and accuracy of the measurement system. And simulation results demonstrates that the system can estimate the product's positioin and rotate angle precisely and quickly applying genetic algorithm for this problem.
社団法人日本船舶海洋工学会の論文
1997-09-04