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

2019 Fiscal Year Final Research Report

• Project/Area Number: 17K06272
• Research Category: Grant-in-Aid for Scientific Research (C)
• Allocation Type: Multi-year Fund
• Section: 一般
• Research Field: Intelligent mechanics/Mechanical systems
• Research Institution: Chuo 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
• 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

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.

Free Research Field

ロボット工学

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。