協調動作する2台の産業ロボットのための3次元位置センサ

概要

論文の詳細を見る
In the arc welding works, it is wellknown that desirable welding performances can be achieved by the coordinated motion. Coordinated motions of arc welding systems are often realized by a pair of robots. Generally teaching task of coordinated motions needs some skill and spends relativery long time. In this paper, we present one arc weiding robot system that realizes coordinated motion. One feature of our robot system is that teaching tasks of coordinated motions are simplified drastically by employing a three-dimensional vision sensor. The conventional industrial robots have mechanical errors. Therefor, the three-dimensional vision sensor to detect the shape of the target welding groove in order to compensate the effect of mechanical errors is introduced. And the task program that consists of compensated tool position and workpiece attitude is created precisely.
長崎大学工学部,Faculty of Engineering, Nagasaki Universityの論文