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Development of a cooperative assembly system with three industrial manipulators using wire suspension structure

Research Project

Project/Area Number 17K06272
Research Category

Grant-in-Aid for Scientific Research (C)

Allocation TypeMulti-year Fund
Section一般
Research Field Intelligent mechanics/Mechanical systems
Research InstitutionChuo University

Principal Investigator

Osumi Hisashi  中央大学, 理工学部, 教授 (00203779)

Co-Investigator(Kenkyū-buntansha) 相山 康道  筑波大学, システム情報系, 教授 (60272374)
Project Period (FY) 2017-04-01 – 2020-03-31
Project Status Completed (Fiscal Year 2019)
Budget Amount *help
¥4,940,000 (Direct Cost: ¥3,800,000、Indirect Cost: ¥1,140,000)
Fiscal Year 2019: ¥520,000 (Direct Cost: ¥400,000、Indirect Cost: ¥120,000)
Fiscal Year 2018: ¥650,000 (Direct Cost: ¥500,000、Indirect Cost: ¥150,000)
Fiscal Year 2017: ¥3,770,000 (Direct Cost: ¥2,900,000、Indirect Cost: ¥870,000)
Keywords協調制御システム / 産業用マニピュレータ / 位置決め / 組み立て / パラレルワイヤ懸垂機構 / 冗長自由度 / パラレルワイヤ懸垂系 / 位置・姿勢制御 / 組立作業 / コンプライアンス / 冗長自由度制御 / 組み付け / 知能機械 / 知能ロボティクス / 機械力学・制御
Outline of Final Research Achievements

A cooperative system for assembling large objects using three position-controlled industrial manipulators has been developed. By suspending an object with 6 wires two of which are connected to each manipulator tip, excessive internal forces due to relative error between the manipulators does not generate, and the object is rigidly positioned against external forces below a certain value. In this system, an inverse kinematics algorithm that avoids the concentration of tension on a specific wire while preventing the wire from slacking is proposed. In addition, a control algorithm for inserting and pulling out the object from a hole have been proposed based on the mechanical analysis, and its effectiveness has been verified by a prototype system.

Academic Significance and Societal Importance of the Research Achievements

複数のワイヤにより剛体を懸垂するパラレルワイヤシステムと異なり,ワイヤの上端が空間を自由に運動できるシステムにおいて,ワイヤの弛みと特定のワイヤへの張力集中を回避するために,どのような評価関数を利用すれば良いかを明らかにした点に学術的意義がある。また,本提案システムは,ロボットコントローラを改造することなく既存の製品をそのまま協調に利用できるため,実用性が高く,幅広い応用が期待できる。

Report

(4 results)
  • 2019 Annual Research Report   Final Research Report ( PDF )
  • 2018 Research-status Report
  • 2017 Research-status Report
  • Research Products

    (5 results)

All 2019 2018 2017

All Presentation (5 results) (of which Int'l Joint Research: 2 results)

  • [Presentation] ワイヤを利用した3台のマニピュレータによる物体の協調位置決め2019

    • Author(s)
      押川慶則,荻坂まりな,大隅久
    • Organizer
      日本機械学会ロボティクス・メカトロニクス部門講演会ROBOMECH2019
    • Related Report
      2019 Annual Research Report
  • [Presentation] Cooperative positioning system of three manipulators with wire suspension mechanism2019

    • Author(s)
      M.Ogisaka, S.Morishita, Y.Sekimura and H.Osumi
    • Organizer
      International Workshop on Fukushima Decommissioning Research
    • Related Report
      2019 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Cooperative Transportation System with Three Omni-Directional Mobile Manipulators with Wire Mechanism2019

    • Author(s)
      Morishita Shoma, Ogisaka Marina, Oshikawa Yoshinori, Sekimura Yuta, Osumi Hisashi
    • Organizer
      IFAC WROCO 2019
    • Related Report
      2019 Annual Research Report
    • Int'l Joint Research
  • [Presentation] ワイヤを用いた3台の産業用マニピュレータにおける協調組み付け2018

    • Author(s)
      森下翔午,大隅久
    • Organizer
      日本機械学会ロボティクス・メカトロニクス講演会2018
    • Related Report
      2018 Research-status Report
  • [Presentation] ワイヤを利用した3台の移動マニピュレータによる協調搬送制御2017

    • Author(s)
      関村悠太
    • Organizer
      計測自動制御学会システムインテグレーション部門講演会SI2017
    • Related Report
      2017 Research-status Report

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Published: 2017-04-28   Modified: 2021-02-19  

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