Investigation of Synchronous Accuracy of Dual Arm Motion of Industrial Robot

Abstract:

Article Preview

Recently, new needs have emerged to control not only linear motion but also rotational motion in high-accuracy manufacturing fields. Many five-axis-controlled machining centres are therefore in use. However, one problem has been the difficulty of creating flexible manufacturing systems with methods based on the use of these machine tools. On the other hand, the industrial dual-arm robot has gained attention as a new way to achieve accurate linear and rotational motion in an attempt to control a working plate like a machine tool table. In the present report, a cooperating dual-arm motion is demonstrated to make it feasible to perform stable operation control, such as controlling the working plate to keep a ball rolling around a circular path on it. As a result, we investigated the influence of each axis motion error on a ball-rolling path.

Info:

Periodical:

Edited by:

W.B. Lee, C.F. Cheung and S. To

Pages:

234-239

DOI:

10.4028/www.scientific.net/KEM.516.234

Citation:

W. Wu et al., "Investigation of Synchronous Accuracy of Dual Arm Motion of Industrial Robot", Key Engineering Materials, Vol. 516, pp. 234-239, 2012

Online since:

June 2012

Export:

Price:

$35.00

[1] T. Shibukawa, T. Toyama, K. Hattori, Parallel mechanism-based milling machine, Journal of JSPE 63 (1997) 1671-1675. (in Japanese).

[2] T. Matsushita, T. Oki, A. Matsubara, The accuracy of cone frustum machined by five-axis machine tool with tilting table, Journal of JSPE 74 (2008) 632-636. (in Japanese).

DOI: 10.2493/jjspe.74.632

[3] G. Hirano, Y. Motoji, M. Akira, Cooperative motion planning of two manipulators for concave wall tracing task, Transactions of the Japan Society of Mechanical Engineers 66 (2000) 2292-2297. (in Japanese).

DOI: 10.1299/kikaic.66.2292

[4] Kosuge K. et al. Manipulation of flexible sheet metal by dual manipulators, Transactions of the Japan Society of Mechanical Engineers 61 (1995) 4365-4371. (in Japanese).

[5] Furukawa T. et al. a method for sub-minimal-time trajectory planning of redundant dual manipulator systems, Advanced Robotics (Journal of the Robotics Society of Japan) 13 (1995) 432-537. (in Japanese).

DOI: 10.7210/jrsj.13.532

[6] Mitsuru T. et al. Dynamic manipulation inspired by handling mechanism of pizza master, Transactions of the Japan Society of Mechanical Engineers 74 (2008) 1825-1833. (in Japanese).

DOI: 10.1299/kikaic.74.1825

In order to see related information, you need to Login.