書誌事項
- タイトル別名
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- Design of Force Control Parameters Considering Cycle Time
- サイクルタイム オ コウリョ シタ チカラ セイギョ パラメータ セッケイ
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抄録
This paper presents a new approach to the design of force control parameters for robotic assembly. Appropriate force control parameters are necessary in order to achieve assembly operations successfully and assure high efficiency of the operations. In practical assembly lines, a cycle time that is the time to perform an operation is required to be reduced. In this paper, a designing method of force control parameters that can reduce a cycle time is proposed and applied to Peg-in-Hole operations. In the method, sub-optimal parameters are obtained through iterative simulations of assembly operations because it is very difficult to calculate a cycle time analytically. First, the proposed method is formulated as an optimization problem. Next, a simulator for robotic Peg-in-Hole operations is developed based on preliminary experiments. Force control parameters are then optimized by using the simulator. Finally, experimental results are shown to demonstrate the validity of the parameters obtained through the proposed method.
収録刊行物
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- 日本ロボット学会誌
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日本ロボット学会誌 24 (4), 554-562, 2006
一般社団法人 日本ロボット学会
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詳細情報 詳細情報について
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- CRID
- 1390282679702597248
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- NII論文ID
- 10017484750
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- NII書誌ID
- AN00141189
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- ISSN
- 18847145
- 02891824
- http://id.crossref.org/issn/02891824
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- NDL書誌ID
- 7963823
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- NDL
- Crossref
- CiNii Articles
- KAKEN
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- 抄録ライセンスフラグ
- 使用不可