1A1-G08 双腕組立作業ロボットのマスタ・スレーブ制御(作業をするロボット)

概要

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In this paper, we propose Master-slave control of Dual-Arm Robot. The purpose of the study is developing a autonomous dual-arm assembler robot. The first of goal as assembly work is tightening up nut to bolt. In order to do the work, we work out a design of the end effector. The end effector is a robot hand having three fingers. The control system of the three-fingered robot hand is designed LQI control (linear quadratic integral control system). In addition, we operate Dual-Arm Robot which we use a master-slave system for. By using the master-slave system, we are able to operate Dual-Arm Robot even if we do not create complicated trajectory program. It is presented the master-slave system is effective for operability and following capability. The control system of the Dual-Arm Robot is designed PID control.
一般社団法人日本機械学会の論文
2008-06-06