双腕ロボットの複雑なプレート操り動作における動的精度の研究

Abstract

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.