NC塗装ロボットの軌道精度評価法 Accuracy Evaluation of Trajectory for NC Painting Robot
Ultimate goal of this study is making up CIM of painting process for large scale steel product. For the purpose of it, the study aims at developing a simple way of accuracy evaluation of trajectory for NC painting robot. First, we made it clear that generation system of operation data for NC robot is one of the most important items and accuracy evaluation of robot trajectory is essential for it. We noticed through experiment that accuracy of trajectory is proportional to the distance between TCP (Tool Center Point) and singular point. We also noticed that there exists one locus of singular points subject to one tool configuration. This means that minimum distance between trajectory and the locus is useful for the evaluation. In this paper, detail of algorithm and characteristic of this method is described. This method is found to be very practical because calculating value of the Jacobian is not necessary.
日本ロボット学会誌 16(7), pp.1017-1025, 1998-10-15
The Robotics Society of Japan