Sensor-Enhanced Robotic Cell Collaboration Using Shared Task Error Information.
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- Motegi Manabu
- NTT Human Interface Laboratories
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- Kakizaki Takao
- NTT Human Interface Laboratories
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- Muto Shin-yo
- NTT Human Interface Laboratories
Bibliographic Information
- Other Title
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- 作業誤差情報を相補利用するロボットセルのコラボレーションに関する実験的検討
- サギョウ ゴサ ジョウホウ オ ソウホ リヨウ スル ロボットセル ノ コラボ
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Abstract
A multiple-sensor-enhanced robot collaboration system has been developed for manufacturing applications. The system consists of basic robot modules, such as for locating and tracking. These modules have laser range finders and perform hybrid manufacturing tasks by working together as an advanced robotic cell. A hybrid task with uncertainties can be described by the task velocity and task error derived from the sensory and motion information on the robot modules. The modules send their task error and waiting time to each other via a collaboration network. They also modify their given motion sets in real time based on fuzzy rules in order to improve the accuracy and efficiency of the system. An experimental study of multi-station welding showed that this collaboration results in a satisfactory trade-off between accuracy and efficiency.
Journal
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- Journal of the Robotics Society of Japan
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Journal of the Robotics Society of Japan 16 (8), 1099-1107, 1998
The Robotics Society of Japan
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Details 詳細情報について
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- CRID
- 1390282679701470336
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- NII Article ID
- 10002865037
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- NII Book ID
- AN00141189
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- ISSN
- 18847145
- 02891824
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- NDL BIB ID
- 4604017
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- Text Lang
- ja
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- Data Source
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- Abstract License Flag
- Disallowed