2021 Fiscal Year Final Research Report
Graspless handling based on skillful operation of working plate with a collaborative dual-arm SCARA robot
| Project/Area Number |
19K04115
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Multi-year Fund |
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| Section | 一般 |
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| Review Section |
Basic Section 18020:Manufacturing and production engineering-related
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| Research Institution | Doshisha University |
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Principal Investigator |
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| Project Period (FY) |
2019-04-01 – 2022-03-31
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| Keywords | グラスプレスハンドリング / 産業用ロボット / 協働ロボット / 双腕ロボット / スカラーロボット |
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| Outline of Final Research Achievements |
We focus on a humanoid collaborative dual-arm SCARA robot as a useful robot in the manufacturing factories. In the research work, we attempt to construct a grasp-less handling technology to control the motion of workpiece on the working plate without contacting it, based on skillful operation of working plate supported by dual-arm. As a result, it is demonstrated that a motion control of the object on the working plate is performed by grasp-less handling based on the suitable combination of inertia force in the in-plane and gravity force in the out-of-plane due to the plate operation.
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| Free Research Field |
自動化
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| Academic Significance and Societal Importance of the Research Achievements |
産業用ロボットが双腕で高度なプレート操り動作を遂行することで，食品など直接把持が難しい対象物に対して高度はハンドリングが可能であることを示すことができた．食品産業だけでなく，ゲル状などの医薬品なども含め，従来は難しい直接把持が難しい対象物に対する新たなハンドリング技術の可能性を示すことができた．すなわち新たな工場作業などの現場においての自動化技術として，今後の発展が期待できる．
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