An Estimation Method for the Relation between a Robot System and Tasks Using a Tool

カテゴリ: 論文誌(論文単位)

グループ名: 【D】産業応用部門（英文）

発行日: 2014/03/01

タイトル(英語): An Estimation Method for the Relation between a Robot System and Tasks Using a Tool

著者名: Naoki Motoi (School of Engineering, Yokohama National University), Yoshiyuki Hatta (School of Engineering, Yokohama National University), Tomoyuki Shimono (School of Engineering, Yokohama National University), Atsuo Kawamura (School of Engineering, Yokoha

著者名(英語): Naoki Motoi (School of Engineering, Yokohama National University), Yoshiyuki Hatta (School of Engineering, Yokohama National University), Tomoyuki Shimono (School of Engineering, Yokohama National University), Atsuo Kawamura (School of Engineering, Yokohama National University)

キーワード: motion control，task realization，visual sensor，parameter estimation

要約(英語): In order to perform intelligent tasks using a tool, it is necessary to estimate the relation between a robot system and the tasks. However, no estimation method for this relation is currently available. Therefore, this paper proposes an estimation method for this relation by using an external sensor. In this paper, the hybrid control method based on the oblique coordinate system is utilized. Then, this relation can be treated as a task Jacobian matrix. By using the proposed method, it is possible to estimate the correct task Jacobian matrix, even if the kinematic relation between the robot system and the tool is not known or is changed during the task. As a result, the tasks are performed with this tool. From the simulation and the experimental results, the validity of the proposed method was confirmed.

本誌: IEEJ Journal of Industry Applications Vol.3 No.2 （2014） Special Issue on Motor Drive and its Related Technologies

本誌掲載ページ: 146-155 p

原稿種別: 論文／英語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejjia/3/2/3_146/_article/-char/ja/