作業者の操作性を考慮した着脱式姿勢可変型直接教示装置の開発(機械力学,計測,自動制御)

概要

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This paper proposes a direct teaching device for a multi-D.O.F industrial manipulator considering a worker's safety and operability. The proposed device named as APDT, Attachable and Pose-changable Direct Teaching device, in composed of a pose adjusting part and a teaching handle part. It is capable of easy mounting/unmouting on a robot end-effector and of adjusting a pose of a teaching handle freely without consideration of the pose of an end-effector. By using APDT, a worker is able to perform a direct teaching task for a multi-D.O.F manipulator in a comforable posture even in case of teaching in the large pose change of the end-effector by adjusting the pose of the teaching handle. This will bring the reduction of load of a worker in a long time teaching task. Consequently, the reduction of risk due to inappropriate work posture and the improvement of task efficiency is expected. Simple direct teaching task using APDT with SP02, cell-production robot, was conducted to confirm the effectiveness of APDT.
2010-12-25