考虑转矩裕度和可操纵性特性的两工业机器人线驱动布置与协同操作控制

Akihiro Nabeshima, T. Hirogaki, E. Aoyama
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引用次数: 0

摘要

-当多个机器人执行一项任务时,用户一般根据机器人的工作范围来安排机器人。然而,仅这一标准可能会对机器人关节施加不必要的大载荷。另一方面,物联网技术的发展促进了从机器人和其他设备获取伺服信息。预计这一信息在未来将变得越来越重要。本文以两个小型多关节机器人为研究对象,提出了一种基于不同于机器人工作范围的准则来确定机器人位置的方法。所提出的方法是通过关注作用于机器人的关节扭矩来构建的,该扭矩可以通过物联网技术轻松获得。此外,重点关注由可操作性推导出的扭矩裕度和操作力椭球体,我们研究了两个机器人在施加恒定外力的情况下合作举起超过单个机器人运动范围的重物。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Determining the Arrangement and Cooperative Operating Control of Two Industrial Robots During Wire Driving Tasks Considering Torque Margin and Manipulability Characteristics
—When multiple robots perform a task, the user generally arranges the robots based on their working range. However, this criterion alone may place an unnecessarily large load on a robot joints. On the other hand, developments in IoT technology have facilitated the acquisition of servo information from robots and other devices. This information is expected to become increasingly important in the future. In this study, two small multi-joint robots are used to propose a method to determine robot placement based on criteria different from the robot working range. The proposed method is constructed by focusing on the joint torque working on the robot, which can be easily obtained using IoT technology. In addition, focusing on the torque margin and operating force ellipsoid derived from manipulability, we examine the cooperation of two robots to lift a weight that exceeds the range of motion of a single robot exerting a constant external force.
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