書誌事項
- タイトル別名
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- Study on the dynamic accuracy in skillful operating of working plate to control of ball rolling motion with a dual arm robot
説明
Nowadays, industrial dual-arm robots have gained attention as novel tools in the factory automation field for anext generation. 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 and demonstrated that a proposed method is effective to estimate its motion of frequency response. In present report, for widening the range of applications, we tried to keep a ball rolling around rhomboid path which is one of polygonal path on working plate by dual-arm cooperative control and to investigate its characteristic.
収録刊行物
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- 日本機械学会論文集
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日本機械学会論文集 81 (822), 14-00486-14-00486, 2015
一般社団法人 日本機械学会
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キーワード
詳細情報 詳細情報について
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- CRID
- 1390282680492498432
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- NII論文ID
- 130005005032
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- ISSN
- 21879761
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- 本文言語コード
- ja
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- 資料種別
- journal article
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- データソース種別
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- JaLC
- Crossref
- CiNii Articles
- KAKEN
- OpenAIRE
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- 抄録ライセンスフラグ
- 使用不可
