Session: MR-5-2: Motion Planning, Dynamics, and Control of Robots

Paper Number: 116404

116404 - Influence of Support Posture on Working Plate Operation for Grasp-Less Handling Technology With an Industrial Dual-Arm Scara Robot 

In recent years, the world has been faced with the problems of a decline in the working population and labor productivity, and the inability to successfully pass on the skills. To solve this problem, the importance of factory automation (FA) technology is increasing annually. Accordingly, the sophistication and precision of motion control to provide complex motions to tables are increasing. To improve the accuracy of their motion, techniques for their measurement and evaluation are essential.In this study, we propose a new method to diagnose the accuracy of motion by manipulating a ball on a plate using a dual-arm SCARA robot, which is commanded to move only in the horizontal plane based on the trajectory of the ball. Here,we name this manipulation the graspless ball handling because the horizontal in-plane motion of the plate makes it feasible to perform the movement of ball position in the plate without directly grasp it by robot arm.A measurement method was developed in which a ball rolling motion is created in a circular orbit on the work plate by horizontal in-plane maneuvering motion of the plate, named graspless ball handling, and the rolling motion error with respect to the reference circle is utilized. An experiment was conducted on a teaching method for controlling the rolling motion of the ball at a position away from the center of the robot on the work plate. It was found that an error occurs in the peripheral speed in the rotation of the plate. When the work plate is grasped and the movement is taught, the program using the master–slave method was the primary influence on the motion error, confirming the possibility of correction.

Presenting Author: GENKI YAMANISHI Doshisha University

Presenting Author Biography: Genki Yamanishi is a master's student at Doshisha University in Japan. His area of expertise is industrial robotics in mechanical engineering.

Authors:

GENKI YAMANISHI Doshisha University
Hiroaki Hanai Doshisha University
Yuma Mita Doshisha University
Toshiki Hirogaki Doshisha University
Eiichi Aoyama Doshisha University