Simulation Study on Emergency-Stopping Avoidance Control Due to Singularity During Teaching Operation with Parallel Wire-Type Teaching Device

DOI オープンアクセス
  • Inuzuka Hideki
    Department of Electrical and Mechanical Engineering, Nagoya Institute of Technology
  • Sakai Masao
    Industrial Research Center, Aichi Center for Industry and Science Technology
  • Morita Yoshifumi
    Department of Electrical and Mechanical Engineering, Nagoya Institute of Technology

説明

It is possible to teach industrial robots easily by using the parallel wire-type teaching device (PAWTED) developed in this study. One of several practical problems is the emergency stopping of the robot because of a singular configuration during teaching. A method is proposed to avoid these stops owing to the shoulder singular configuration. In the simulation, the robot motion was corrected by changing the target value following the PAWTED. The effectiveness of preventing the emergency stop from occurring was confirmed.

収録刊行物

キーワード

詳細情報 詳細情報について

  • CRID
    1390565134829763584
  • DOI
    10.5954/icarob.2020.gs2-5
  • ISSN
    21887829
  • 本文言語コード
    en
  • データソース種別
    • JaLC
    • Crossref
    • OpenAIRE
  • 抄録ライセンスフラグ
    使用不可

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