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Control of ball rotating motion based on skillful plate motion control with a dual arm robot

Research Project

Project/Area Number 25420075
Research Category

Grant-in-Aid for Scientific Research (C)

Allocation TypeMulti-year Fund
Section一般
Research Field Production engineering/Processing studies
Research InstitutionDoshisha University

Principal Investigator

HIROGAKI Toshiki  同志社大学, 理工学部, 教授 (80275172)

Project Period (FY) 2013-04-01 – 2016-03-31
Project Status Completed (Fiscal Year 2015)
Budget Amount *help
¥5,070,000 (Direct Cost: ¥3,900,000、Indirect Cost: ¥1,170,000)
Fiscal Year 2015: ¥1,690,000 (Direct Cost: ¥1,300,000、Indirect Cost: ¥390,000)
Fiscal Year 2014: ¥1,560,000 (Direct Cost: ¥1,200,000、Indirect Cost: ¥360,000)
Fiscal Year 2013: ¥1,820,000 (Direct Cost: ¥1,400,000、Indirect Cost: ¥420,000)
Keywords産業用ロボット / 自動化 / モーションコントロール / 工場 / 生産システム / ロボット / 制御工学 / 機械力学 / 運動精度 / 協調制御 / 双腕 / プレート操り / 数値制御
Outline of Final Research Achievements

This research work dealt with controlling a rolling motion of working plate by cooperating dual arms with a dual arm industrial robot. We investigated a rolling locus error of a ball (diameter 20mm) on the plate caused by the plate rolling motion. Here, the error was defined the deference between the simulated ball rolling locus on the plate and the experimental one. As a result, it could be seen that the monitor of locus error made it feasible to estimate the rolling motion error of plate. Moreover, it was demonstrated that its estimation made it possible to improve the accuracy of the plate rolling motion. We therefore constructed a novel technology to achieve the high accuracy and the high speed operation of the working plate with a dual arm industrial robot and to develop a novel factory automation technology in the next generation.

Report

(4 results)
  • 2015 Annual Research Report   Final Research Report ( PDF )
  • 2014 Research-status Report
  • 2013 Research-status Report
  • Research Products

    (11 results)

All 2015 2014 2013 Other

All Journal Article (3 results) (of which Peer Reviewed: 2 results,  Open Access: 2 results) Presentation (8 results) (of which Int'l Joint Research: 2 results)

  • [Journal Article] Detection of Motion Error under Synchronous Two-Axis Control of a Dual Arm Robot Based on Monitoring of Ball Rolling Motion on a Plate2015

    • Author(s)
      呉魏,木下俊,廣垣俊樹,青山栄一
    • Journal Title

      International Journal of Automation Technology, Vol.9 No.1,33-42

      Volume: 9 Pages: 33-42

    • NAID

      130007673884

    • Related Report
      2014 Research-status Report
    • Peer Reviewed / Open Access
  • [Journal Article] 双腕ロボットの複雑なプレート操り動作における動的精度の研究2015

    • Author(s)
      木下俊,呉魏,廣垣俊樹,青山栄一
    • Journal Title

      日本機械学会論文集

      Volume: 81 Pages: 1-15

    • NAID

      130005005032

    • Related Report
      2014 Research-status Report
    • Peer Reviewed / Open Access
  • [Journal Article] 各種ボールの転がり運動のモニターに基づく双腕ロボットによるプレート同期旋回2軸制御時の運動誤差の検出2013

    • Author(s)
      呉魏,廣垣俊樹,青山栄一
    • Journal Title

      同志社大学理工学研究報告論文

      Volume: 54 Pages: 7-15

    • NAID

      110009575471

    • Related Report
      2013 Research-status Report
  • [Presentation] Motion control of working plate supported with dual-arm robot with various postures2015

    • Author(s)
      堀角優一,呉魏,廣垣俊樹,青山栄一
    • Organizer
      Proc. of 8th Int. Conf. On Leading Edge Manufacturing in 21st Century(LEM21)
    • Place of Presentation
      Kyoto Research Park,京都
    • Year and Date
      2015-10-19
    • Related Report
      2015 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Investigation of Two-Axis Synchronous Accuracy of Plate Pivot Control with Various Poses of Industrial Dual-Arm Robot for Ball-Rolling Motion on Working Plate2015

    • Author(s)
      堀角優一,呉魏,廣垣俊樹,青山栄一
    • Organizer
      Proc. of Aeronatuics, Nano, Bio, Robotics and Energy (ANBRE15)
    • Place of Presentation
      Daejeon Convention Center,韓国
    • Year and Date
      2015-08-25
    • Related Report
      2015 Annual Research Report
    • Int'l Joint Research
  • [Presentation] 双腕ロボットの各種姿勢のプレート2軸旋回運動制御の運動誤差2015

    • Author(s)
      堀角優一,木下俊,呉魏,廣垣俊樹,青山栄一
    • Organizer
      日本機械学会関西支部第90期定時総会講演会
    • Place of Presentation
      京都大学
    • Year and Date
      2015-03-16 – 2015-03-17
    • Related Report
      2014 Research-status Report
  • [Presentation] 双腕ロボットの協調動作での複雑なプレート操りにおけるボールの多角形転がり運動制御とその精度に関する研究2014

    • Author(s)
      木下俊,呉魏,廣垣俊樹,青山栄一
    • Organizer
      第16回国際工作機械技術者会議(IMEC)講演会
    • Place of Presentation
      東京ビックサイト
    • Year and Date
      2014-10-30 – 2014-11-04
    • Related Report
      2014 Research-status Report
  • [Presentation] 双腕ロボットの複雑なプレート操り動作における動的精度の研究2014

    • Author(s)
      木下俊,呉魏,廣垣俊樹,青山栄一
    • Organizer
      日本機械学会Dynamics and Design Conference 2014
    • Place of Presentation
      上智大学
    • Year and Date
      2014-08-26 – 2014-08-29
    • Related Report
      2014 Research-status Report
  • [Presentation] 産業用双腕ロボットの各種姿勢のプレート2軸旋回運動制御の運動誤差とプレート上のボールの転がり運動の考察2014

    • Author(s)
      堀角優一,木下俊,呉魏,廣垣俊樹,青山栄一
    • Organizer
      精密工学会2014年度関西地方定期学術講演会
    • Place of Presentation
      近畿大学
    • Year and Date
      2014-07-04
    • Related Report
      2014 Research-status Report
  • [Presentation] 双腕ロボットによるプレート操り制御におけるプレート支持位置の影響2013

    • Author(s)
      呉魏,木下俊,廣垣俊樹,青山栄一
    • Organizer
      精密工学会秋季大会講演会
    • Place of Presentation
      関西大学
    • Related Report
      2013 Research-status Report
  • [Presentation] 複雑な入力における双腕ロボットのプレート操りによるボールの転がり制御

    • Author(s)
      木下俊,呉魏,廣垣俊樹,青山栄一
    • Organizer
      精密工学会関西支部学術講演会
    • Place of Presentation
      大阪工業大学
    • Related Report
      2013 Research-status Report

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Published: 2014-07-25   Modified: 2019-07-29  

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