各種ボールの転がり運動のモニターに基づく双腕ロボットによるプレート同期旋回2軸制御時の運動誤差の検出

概要

論文の詳細を見る
Nowadays, industrial dual-arm robots have gained attention as novel tools in the field of new automation. We therefore focus on them to flexibly control both the linear motion and the rotational motion of a working plate. However, there has been one problem that it is difficult to measure the synchronous accuracy of two rotary axes without high accuracy gyro sensor. Thus, we proposed a novel method to measure the synchronous accuracy of two rotary axes of working plate with a ball, which keeps a ball rolling around a circular path on it by dual-arm cooperative control. In the present report, we investigated an influence of rolling friction coefficient of ball on its sensitivity and its resolution to estimate the synchronous accuracy of two rotary axes.
2013-04-00