B18 工作機械の構造・形状統合モデルと統一的逆運動学計算手法の提案 : ロボットを含む工作機械システムへの応用(OS4 生産システムとCAD・CAM(2))

概要

論文の詳細を見る
In machining process, especially multiaxis NC machining, it is necessary to simulate the motion for confirmation of NC data. Recently, machine tool systems consist of not only machine tools but also auxiliary devices such as robots, then the systems are complicated. In such case, there are two problems; 1) There is no common integrated model of kinematics and shapes for machine tools and robots. 2) There is no unified solving method of inverse kinematics with machine tools and robots. In this paper, to solve these problems, an integrated model of kinematic model and shape model for machine tools and robots based on STEP(ISO10303) is proposed. A motion simulation system including a unified solving method of inverse kinematics using Groebner Basis is also developed. Then, an example of the integrated model and solving inverse kinematics for machine tools with robots using this model are also demonstrated.
一般社団法人日本機械学会の論文
2010-11-19