Proposal of Improving Method of Rotational 2-Axis Synchronous Accuracy of Plate Motion Control with a Dual Arm Robot by Estimating Ball Rolling Motion on the Plate
Recently, developers of machining tools have begun paying more and more attention to multi-joint dual-arm robot, and it is expected the robot will reclaim its place in the field of new automation. Industrial dual-arm robots have therefore gained attention as new tools to control both linear motion and rotational motion accurately. On the other hand, the five-axis control machining center controlling the motion of three translation axes and two rotation axes has put into wide practical use. However, a one problem has been that it may be the difficult to measure the synchronic accuracy of rotation two axes without high accuracy gyro sensor. In the present report, we proposed a novel method to measure the synchronic accuracy of rotation two axes of machine tool table with a ball, which keeps a ball rolling around a circular path on the working plate by dual-arm cooperating control. As a result, we investigated an influence of each axis motion error on a ball- rolling path, and demonstrated this method made it feasible to estimate the synchronic accuracy of rotation two axes of machine tool table.
Tojiro Aoyama, Hideki Aoyama, Atsushi Matsubara, Hayato Yoshioka and Libo Zhou
W. Wu et al., "Proposal of Improving Method of Rotational 2-Axis Synchronous Accuracy of Plate Motion Control with a Dual Arm Robot by Estimating Ball Rolling Motion on the Plate", Key Engineering Materials, Vols. 523-524, pp. 889-894, 2012