Robot Control Commands Research Articles

F-0607 工具特徴モデルによるロボット用工具の表現(S41-2 生産システムにおけるハードウェア技術(2))(S41 生産システムにおけるハードウェア技術)

The study deals with a proposal of "tool characteristic model" to describe the tool characteristic which is used in an industrial robot performing a variety of operations on the basis of CAD data. Industrial robots are often used together with various and complex shaped tools. A human can under-stand the tool characteristics such as geometric shapes, functions and directions to use at a glance. Without an appropriate description of tool characteristics, neither robot can not get enough work space can nor workpieces be machined accurately. Therefore, the tools have to be modeled so as to describe their characteristics in a parametric manner. The tool characteristic model-geometrical tool characteristics, functional tool characteristics, workpiece surface information-enables software development for automatic robot control command generation to be simple and effective even if system elements such as CAD system, tool and robot has changed.

Automation of Chamfering by an Industrial Robot; For the Case of Hole on a Free Curved Surface

The study deals with the automatic chamfering for the case of hole on a free curved surface on the basis of CAD data, using an industrial robot. As a chamfering tool, a rotary-bar driven by an electric motor is mounted to the arm of the robot having six degrees of freedom in order to give an arbitrary position and attitude to the tool. The robot control command converted from the chamfering path is transmitted directly to the robot. From the experimental results, the system is found effective to remove a burr along the edge of a hole on a workpiece with free curved surface.

Automatic Chamfering by an Industrial Robot. For the Case of a Hole on a Cylindrical Workpiece.

The studay deals with the automatic chamfering for the case of a machined hole on a cylinder on the basis of CAD data, using an industrial robot. As a chamfering tool, a rotary-bar driven by an electric motor is mounted to the arm of the robot having six degrees of freedom in order to give an arbitrary position and attitude to the tool. The chamfering path based on the CAD data is generated by our own CAM system. The CAM system considers not only the tool attitude but also the robot attitude to avoid deviation of the robot movement range. The robot control command converted from the chamfering path is transmitted directly to the robot. From the experimental results, the system is found effective to remove a burr along the edge of a hole on a cylindrical metallic workpiece.

Development of a Task-Level Assembly Planning System Using Dual Arms

In this paper, it is proposed that a task-level assembly planning system that consists of Object Data Base(ODB) generator, Target Data Base(TDB) generator, and Task-Level Command Interpreter(TCI). ODB generator provides the information on the dimensions of each part to be assembled. Considering the information of ODB and the assembly sequence of the target object given by 3D GUI environment, TDB generator finds an optimal path of each assembling part while avoiding obstacles. TCI generates a set of primitive robot control commands for the robot to follow the path planned by TDB, where a collision avoidance scheme for dual arms is also considered. Then, these primitive commands are downloaded to our dual-arm control system to perform the given assembly task. To show the validity of our proposed planning system, an assembly work building a house with 13 Lego blocks is demonstrated.

ロボットを用いた塗装作業の自動化

The study deals with automatic spraying by a six-degree-of-freedom industrial robot equipped with an air spray gun. The conventional spray generation system in which an operator teaches a robot using its teaching-playback function, requires the skillfulness and a lot of time for teaching. This study aims at making robot control commands without special knowledge of spraying, with the bumper of a car as an example of a sculptured surface. The system can generate a spraying path for the air spray gun automatically on the basis of CAD data of the workpiece and change the spraying path into robot control commands. From experimental results, the system is found to effectively coat a car bumper in uniform paint thickness.

Automation of Spray-Painting by an Industrial Robot. For the Case of Internal Faces of Box.

The study deals with the automatic spraying by a six-degree-of-freedom industrial robot equipped with an air spray gun. Since the spraying path generation is manually performed by skilled workers using a teaching-playback function of a robot controller, time, experience, patience and skill are required. We aim to make robot control commands without special knowledge on spraying, in the case of internal faces of box-shaped workpieces. The system can generate a spraying path for the air spray gun automatically on the basis of some information on the workpiece and change the spraying path into robot control commands. From experimental results, the system is found to effective by coat internal faces of box-shaped workpieces with uniform paint thickness.

Automation of Polishing Work by an Industrial Robot. 3rd Report. 6-Axis-Control Polishing with L-Type Rotational Tool.

The study deals with the generation of 6-axis-control collision-free polishing command data of an industrial robot with 6 degrees of freedom. Workpieces with, for example, a sheer wall or overhanging curved surface, are difficult to polish using normal rotational tools, since collision between the polishing tool and workpiece cannot be avoided. Thus, an L-type rotational tool consisting of a tool axis and an arm axis was devised, where the angle of the tool axis to the arm axis can be set arbitrarily. In generating the tool path for the L-type rotational tool, the 6-axis collision avoidance concept, consisting of two stages, is newly introduced, based on our own CAD/CAM sysetm. The collision-free polishing path generated is converted into robot control commands for actual polishing work. It is experimentally found that the system is valid for polishing workpieces with complicated shape.

Microcomputer-based optical sensor for seam tracking robot

A continuous path robot used in welding or sealant spreading requires a sensor to detect the exact seam path of the object. This paper is to illustrate the principle of an innovative optical sensor designed to guide a robot in this type of application. A linear array detector served as the measuring device to provide lateral, vertical, and singular deviations of the seam path in real-time. This information was converted into robot control commands by a multiprocessor computer system to minimize the path following errors. Finally, the robotic system equipped with this sensing device was tested and the performance was evaluated.