紙の静電吸着器における吸着センシングおよびphysical RPAへの応用

カテゴリ: 論文誌(論文単位)

グループ名: 【C】電子・情報・システム部門

発行日: 2023/01/01

タイトル(英語): Adhesion Sensing in an Electroadhesive Paper Handler and Its Application to Physical RPA

著者名: 岡本　拓哉（佐賀大学大学院理工学研究科理工学専攻電気電子工学コース），伊藤　秀昭（佐賀大学理工学部理工学科電気電子工学部門），福本　尚生（佐賀大学理工学部理工学科電気電子工学部門），和久屋　寛（佐賀大学教育学部附属教育実践総合センター）

著者名(英語): Takuya Okamoto (Electrical and Electronic Engineering Course, Graduate School of Science and Engineering, Saga University), Hideaki Itoh (Department of Electrical and Electronic Engineering, Faculty of Science and Engineering, Saga University), Hisao Fukumoto (Department of Electrical and Electronic Engineering, Faculty of Science and Engineering, Saga University), Hiroshi Wakuya (Integrated Center for Educational Research and Development, Faculty of Education, Saga University)

キーワード: physical RPA，静電吸着，吸着センシング，書類抽出_x000D_　　physical RPA，electroadhesion，adhesion sensing，document extraction

要約(英語): Recently, robotic process automation (RPA) has been widely used to automate various office tasks, but most RPA systems automate only the tasks performed on computers. To extend RPA systems to automation of physical tasks, we have been developing an electroadhesive paper handler that adheres to a sheet of paper with electrostatic attraction force caused by an application of a high voltage. Although our handler enables robots to easily handle paper, it sometimes fails to adhere to paper if the voltage application time is short. To address this issue, in this study, we propose a sensing mechanism that can detect whether the handler is adhering to the target. The sensing mechanism requires only a simple circuit and a single voltage measurement. Through experiments, we show that the sensing is possible at various humidity and temperatures and in various paper conditions. Also, we study the measured voltage's dependence on a resistance of the measurement circuit and the voltage's transient responses, and provide an equivalent circuit that explains them. Moreover, using an example robot system that automatically extracts specified documents from a given pile of documents, we show that the proposed sensing mechanism speeds up paper handling by making adhesion failures recoverable.

本誌: 電気学会論文誌C（電子・情報・システム部門誌） Vol.143 No.1 （2023） 特集：電子回路関連技術

本誌掲載ページ: 47-56 p

原稿種別: 論文／日本語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejeiss/143/1/143_47/_article/-char/ja/