418 6軸制御ロボットにおけるリアルタイム干渉回避姿勢計画手法の開発(生産システムの設計・管理・評価(2))

Abstract

In recent years, it is required that human and robot cooperate. That's because robots raise the productivity and the robots safety rules have been revised. It's say that robots have to have the appropriate safety skills. In this research, we develop the real time planning method for 6axis robot posture. This system needs to solve some problems. The first problem is avoidance method. So, we innovate the potential function method in our system. The second problem is real time collision detection. So, we innovate collision detection system using GPU (Graphics Processing Unit). In the experiment we mount this system to the 6-axis manipulator. We check how this manipulator avoids the obstacles and moves on the way of the start to goal. As a result, we observe the movement of the robots against the obstacles. In this research, we realized the real time planning method for 6-axis robot posture.