Programming less Force Controlled Finishing Robot System usingEnvironment and Task Motion Framework Technology
| Project/Area Number |
22560249
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
Intelligent mechanics/Mechanical systems
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| Research Institution | Shibaura Institute of Technology |
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Principal Investigator |
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| Research Collaborator |
MURAKAMI Hiroki (株)IHI, 技術開発本部, 副所長
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| Project Period (FY) |
2010 – 2012
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| Project Status |
Completed (Fiscal Year 2012)
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| Budget Amount *help |
¥4,420,000 (Direct Cost: ¥3,400,000、Indirect Cost: ¥1,020,000)
Fiscal Year 2012: ¥910,000 (Direct Cost: ¥700,000、Indirect Cost: ¥210,000)
Fiscal Year 2011: ¥910,000 (Direct Cost: ¥700,000、Indirect Cost: ¥210,000)
Fiscal Year 2010: ¥2,600,000 (Direct Cost: ¥2,000,000、Indirect Cost: ¥600,000)
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| Keywords | ロボティクス / 仕上げ作業 / 仕上げロボットシステム / 力制御 / プログラム自動生成 / 面取り作業 / 磨き作業 / グラインダ作業 / 環境・作業情報構造化 / 位置・姿勢情報取得 / 位置・姿勢情報の取得 / ハンドリング / 金属対応RFIDタグ |
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| Research Abstract |
To realize a finishing robot system which can execute many kinds of finishing tasks easily, we introduced environment and task motion framework technology to the system. This framework technology formalizes the information which is necessary for the robot to execute desired tasks, and distributes the information in the robot working environment. We have proposed a concrete framework for automatic robot control program generation system which extracts the information in the tools, workpieces, robots, etc., and generates the robot control program. Basic motions and functions, problems to be solved for its implementation of the proposed framework are conformed through experiments by using the developed trial system
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Report
(4 results)
Research Products
(20 results)
