309 双腕ロボットを用いた作業プレートの操りによる転がりポールの運動制御(計測と制御,OS-17 ロボットのダイナミクスと制御,総合テーマ「伝統を,未来へ!」)

概要

論文の詳細を見る
Recently, a new tendency has emerged control not only linear motion but also rotational motion in high accuracy manufacturing fields. Many five axis-controlled machining centers are therefore in use. However, it is difficult to achieve the flexible manufacturing systems by means of the methods based on the use of these machine tools. An industrial dual-arm robot has gained attention as a new method to control both linear motion and rotational motion accurately, in attempt to control a working plate like a machine tool table. In the present report, the cooperating dual-arm motion is demonstrated to make it feasible to perform a stable operation control, such as an application of controlling the working plate to keep a ball rolling around a circular path on it.
一般社団法人日本機械学会の論文
2010-09-14