1A1-N09 人間との協調を前提としたロボットメカニズム : 平面物体の組み立て(人間機械協調)

概要

論文の詳細を見る
The gradually aging society suffers labor shortage and therefore creates the need for cooperative robots in industry. We have designed and developed a robot for precise positioning of large, objects on a target. The robot holds and positions the object together with a human worker. The situation on an assembly line of a factory gave us many constraints and freedoms in design. The largest constraint is that the robot has no proximity sensors and no image processing can be used what makes the robot optically blind. The freedom in design was the possibility to use a frame to hold the object. On the frame a handle with a torque sensor can be placed. We present the robot structure, a general mathematical framework for robot-human cooperation as well as a cooperation algorithm.
一般社団法人日本機械学会の論文
2007-05-11