フォースフリー制御を用いた産業用多関節ロボットアームの遠隔操作システム

概要

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A lot of robots are operated in industry. In this paper, teleoperation system of industrial articulated robot arms is proposed. Both of the operation side and the work side, the industrial robot arms are used. In the operation side, the forcefree control technique is adopted for realization of the passive motion due to the influence of external force, and in the work side, the contour control is adopted for realization of the same motion of the robot arm in the operation side. The information of the motion of the robot in the operation side is sent to the work side through network. The method can realize replacement of the roles in the operation side and the work side only by changing the control techniques. The effectiveness of the proposed teleoperation system is confirmed by the experimental results using actual robot arms.
公益社団法人精密工学会の論文