G150031 曲率推定に基づく部材形状提示法の提案と加工支援システムへの適用([G15003]ロボティクス・メカトロニクス部門一般セッション(3))

概要

論文の詳細を見る
In the finish processing of limited production of diversified products, it is expected that development of bilateral control robot that realize finish machining complex shapes. However, if we apply a bilateral control system, it is very difficult work because worker must move while being constantly in contact with the slave tool. So, in this paper, we propose a method to show the shape of the work piece from the estimated curvature. Then we propose a method to show the shape of the work piece from the estimated curvature. And we build a support system for processing adapted proposed method. The system is consisted of a 6-DOF parallel haptic device as a master robot and 4-DOF parallel robot as a slave robot. The effectiveness of the proposed method is shown through an experiment.
一般社団法人日本機械学会の論文
2011-09-11