3245 風呂敷包み作業用複数台ロボットシステムの運動計画法(S38-1 機構の開発とシミュレーション(1),21世紀地球環境革命の機械工学:人・マイクロナノ・エネルギー・環境)

概要

論文の詳細を見る
In recently, the operation of soft products as the cloth and paper using industrial robot is studied. However, the "Furoshiki wrapping" operation for confectionery fields has not been realized yet. Therefore, the purpose of this study is to realize the "Furoshiki wrapping" operation by the multi robot system. The motion of the "Furoshiki wrapping" operation can be considered operation of the constraint part which is formed by the sheet operation. So, the quantification method of the "Furoshiki wrapping" operation was proposed. And, the motion planning method was proposed. And these proposed methods were verified using prototype multi robot system. As a result, it was confirmed that the basic operation of "Furoshiki wrapping" was possible.
一般社団法人日本機械学会の論文
2008-08-02