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各種ボールの転がり運動のモニターに基づく双腕ロボットによるプレート同期旋回2軸制御時の運動誤差の検出
https://doi.org/10.14988/pa.2017.0000013074
https://doi.org/10.14988/pa.2017.00000130746ceffa61-dbd8-41c0-9e1f-78163a2fc8db
名前 / ファイル | ライセンス | アクション |
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023054010002.pdf (813.0 kB)
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Item type | 紀要論文 / Departmental Bulletin Paper(1) | |||||||||||||||||
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公開日 | 2013-05-29 | |||||||||||||||||
タイトル | ||||||||||||||||||
言語 | ja | |||||||||||||||||
タイトル | 各種ボールの転がり運動のモニターに基づく双腕ロボットによるプレート同期旋回2軸制御時の運動誤差の検出 | |||||||||||||||||
タイトル | ||||||||||||||||||
言語 | ja-Kana | |||||||||||||||||
タイトル | カクシュ ボール ノ コロガリ ウンドウ ノ モニター ニ モトズク ソウワン ロボット 二ヨル プレート ドウキ センカイ 2ジク セイギョジ ノ ウンドウ ゴサ ノ ケンシュツ | |||||||||||||||||
タイトル | ||||||||||||||||||
言語 | en | |||||||||||||||||
タイトル | Estimation of two axes synchronous accuracy of plate pivot control with a dual arm robot by monitoring rolling motion of various kinds of balls on the plate | |||||||||||||||||
言語 | ||||||||||||||||||
言語 | jpn | |||||||||||||||||
キーワード | ||||||||||||||||||
主題 | 数値制御, 位置精度, 双腕ロボット, 作業プレート, 自動化, 工作機械 NC, Positioning Accuracy, Dual-Arm Robot, Working Plate, Automation, Machine Tools |
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資源タイプ | ||||||||||||||||||
資源タイプ識別子 | http://purl.org/coar/resource_type/c_6501 | |||||||||||||||||
資源タイプ | departmental bulletin paper | |||||||||||||||||
ID登録 | ||||||||||||||||||
ID登録 | 10.14988/pa.2017.0000013074 | |||||||||||||||||
ID登録タイプ | JaLC | |||||||||||||||||
アクセス権 | ||||||||||||||||||
アクセス権 | open access | |||||||||||||||||
アクセス権URI | http://purl.org/coar/access_right/c_abf2 | |||||||||||||||||
著者 |
呉, 魏
× 呉, 魏× 廣垣, 俊樹
WEKO
15936
× 青山, 栄一
WEKO
15937
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著者所属 | ||||||||||||||||||
ja | ||||||||||||||||||
呉, 魏 / Graduate Student, Doshisha University | ||||||||||||||||||
著者所属 | ||||||||||||||||||
ja | ||||||||||||||||||
廣垣, 俊樹 / 同志社大学理工学部機械システム工学科教授 | ||||||||||||||||||
著者所属 | ||||||||||||||||||
ja | ||||||||||||||||||
青山, 栄一 / 同志社大学理工学部エネルギー機械工学科教授 | ||||||||||||||||||
抄録 | ||||||||||||||||||
内容記述タイプ | Abstract | |||||||||||||||||
内容記述 | 近年,自動化の分野において産業用双腕ロボットが新しい手法として着目されている.そこで我々は,作業プレートに直進および旋回運動を柔軟に与える手法として,その応用を検討している.しかしながら,高精度ジャイロセンサーなしに2軸同期旋回の運動精度を高精度に検出する手法がなかった.そこで我々は,双腕ロボットに作業プレートを両腕で支持して,そのプレート上でボールが転がり円運動する指令を与え,その転がり運動軌跡から2軸同期旋回運動の誤差を診断する新しい手法を提案している.本報では,用いるボールの摩擦係数がその検出感度および分解能に与える影響を考察する. | |||||||||||||||||
言語 | ja | |||||||||||||||||
抄録 | ||||||||||||||||||
内容記述タイプ | Abstract | |||||||||||||||||
内容記述 | Nowadays, industrial dual-arm robots have gained attention as novel tools in the field of new automation. 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. In the present report, we investigated an influence of rolling friction coefficient of ball on its sensitivity and its resolution to estimate the synchronous accuracy of two rotary axes. | |||||||||||||||||
言語 | en | |||||||||||||||||
書誌情報 |
ja : 同志社大学理工学研究報告 en : The Science and Engineering Review of Doshisha University 巻 54, 号 1, p. 7-15, 発行日 2013-04-30 |
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出版者 | ||||||||||||||||||
言語 | ja | |||||||||||||||||
出版者 | 同志社大学理工学研究所 | |||||||||||||||||
出版者(英) | ||||||||||||||||||
言語 | en | |||||||||||||||||
出版者 | Science and Engineering Research Institute of Doshisha University | |||||||||||||||||
ISSN | ||||||||||||||||||
収録物識別子タイプ | PISSN | |||||||||||||||||
収録物識別子 | 00368172 | |||||||||||||||||
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収録物識別子タイプ | NCID | |||||||||||||||||
収録物識別子 | AN00165868 | |||||||||||||||||
権利者情報 | ||||||||||||||||||
権利者名 | 同志社大学理工学研究所 | |||||||||||||||||
言語 | ja | |||||||||||||||||
権利者名 | Science and Engineering Research Institute of Doshisha University | |||||||||||||||||
言語 | en | |||||||||||||||||
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関連タイプ | isFormatOf | |||||||||||||||||
識別子タイプ | URI | |||||||||||||||||
関連識別子 | https://doors.doshisha.ac.jp/opac/opac_link/bibid/SB00960326/?lang=0 | |||||||||||||||||
言語 | ja | |||||||||||||||||
関連名称 | 掲載刊行物所蔵情報へのリンク / Link to Contents | |||||||||||||||||
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内容記述タイプ | Other | |||||||||||||||||
内容記述 | application/pdf | |||||||||||||||||
出版タイプ | ||||||||||||||||||
出版タイプ | VoR | |||||||||||||||||
出版タイプResource | http://purl.org/coar/version/c_970fb48d4fbd8a85 | |||||||||||||||||
日本十進分類法 | ||||||||||||||||||
主題 | 548.3 |