A Method for Introducing Industrial Robots to Cooperative Tasks.

• Osumi Hisashi

  Faculty of Science and Technology, Chuo University

• Arai Tamio

  Faculty of Engineering, University of Tokyo

Bibliographic Information

Other Title

• 弾性部の導入による産業用ロボットの協調作業への適用

Abstract

This paper proposes a simple method for applying popular PID position-controlled industrial robots to cooperative tasks with force interactions among them. For handling single object by multiple robots, force control using torque controllers is generally used to avoid excessive inner forces, however, a popular industrial robot has a PID positioncontroller. Thus it is usually very difficult to realize cooperative control with industrial robots. This paper proposes a method to introduce flexible mechanisms at the tips of robots to control forces at the end-effectors. After the installation of flexible mechanisms at the tips of robots, a closed-loop structure including flexible parts is generated. First, the number of degrees of freedom of the closed-loop structure is analized by modeling the installed flexibility as virtual joint variables. Next, the minimum number of springs, required to avoid both excessive inner forces and vibrations caused by the installed flexibility, are derived. Finally, the minimum number of actuators to control the object in arbitrary directions of 3 D space is derived for installed robots.

Journal

• Journal of the Robotics Society of Japan

  Journal of the Robotics Society of Japan 12 (8), 1192-1197, 1994

  The Robotics Society of Japan

Keywords

• Industrial Robot
• PID Position Control
• Flexible Mechanism
• Closed Loop Mechanism
• Virtual Joint Model

Details

• CRID: 1390001204725601920
• NII Article ID: 10006720512
• NII Book ID: AN00141189
• DOI: 10.7210/jrsj.12.1192
• ISSN: 18847145
• ISSN: 02891824
• ISSN: http://id.crossref.org/issn/02891824
• Text Lang: ja
• Data Source:
  • JaLC
  • Crossref
  • CiNii Articles
• Abstract License Flag: Disallowed