ロボットによる精度管理のための製品形状計測に関する研究

概要

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The purpose of this paper is to measure the joint shape of the structural member and the relative position between two plates in assemble stages. The measurement system by using robotic manipulator as measuring instrument is proposed. In this system, we study about (1) calibration method of accuracy of measurement by multi layer neural network and (2) data processing method using approximation by equation of 3D plane to obtain the information about the product shape from the results of measurements. The following properties of the proposed system became evident after study. The system produces the accuracy of measurement less than 1mm by the model experiments according to restict the position of teacher data of the network. It is illustrated that the information of gap and angle between two plates are obtained from the results of measurement using proposed method.
社団法人日本船舶海洋工学会の論文
1998-09-04