書誌事項
- タイトル別名
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- Motion planning of manipulator for sash insertion into frame
抄録
<p>Since working population is decreasing, industrial robots for various operations such as assembly are widely expected. Assembly sequences consist of low level tasks such as Peg-in-Hole Assembly, Snap Assembly, and so forth. In this paper, we propose a strategy of motion planning for manipulators that operate sash insertion into frame, a kind of assembly tasks. Sash insertion can be assumed as a three-dimensional path planning on the plane when an edge of the sash is always parallel to the frame. Motion of manipulator grasping the sash is generated from the planned motion of the sash by solving inverse kinematics. The generated motion for sash insertion is successfully performed by a 6 DOF manipulator and own-built sash and frame.</p>
収録刊行物
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- ロボティクス・メカトロニクス講演会講演概要集
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ロボティクス・メカトロニクス講演会講演概要集 2019 (0), 2P1-R06-, 2019
一般社団法人 日本機械学会
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詳細情報 詳細情報について
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- CRID
- 1390002184856519168
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- NII論文ID
- 130007775169
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- ISSN
- 24243124
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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
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可