Development of Cooperative Robot Considering Both Safetys and Productivity for Flexible Production System

2022 Fiscal Year Final Research Report

• Project/Area Number: 20K14770
• Research Category: Grant-in-Aid for Early-Career Scientists
• Allocation Type: Multi-year Fund
• Review Section: Basic Section 21040:Control and system engineering-related
• Research Institution: Kagawa National College of Technology
• Principal Investigator: Yoshioka Takashi 香川高等専門学校, 電気情報工学科, 講師 (40824412)
• Project Period (FY): 2020-04-01 – 2023-03-31
• Keywords: モーションコントロール / 協働ロボット / 人－ロボット協調 / 力覚制御

Outline of Final Research Achievements

In this research project, we conducted an investigation with the aim of establishing a highly safe force control algorithm to realize a human-robot collaborative production system that achieves high productivity and safety. Specifically, we examined the following three items: 1) clarification of the dynamic characteristics in force control of industrial robots with elastic gear mechanisms, 2) establishment of a force control algorithm with high stability for all contact objects, and 3) realization of a human-robot collaborative production system through multi-axis extension of the force control algorithm.
Through practical verification, we confirmed that the proposed force control system enables stable contact with the environmental object. The achievements obtained in this research project were disseminated to the scientific community through academic presentations and contributed to society.

Free Research Field

制御工学

Academic Significance and Societal Importance of the Research Achievements

本研究課題では、センシング技術や知能化技術を応用した「人－ロボット協調生産システム」に基づく協働ロボットの力覚制御法について検討を行った。提案法を用いることで、接触対象の剛性に依らず安定な力覚制御系を構築することが可能となる。これにより、ロボットアームと接触対象の接触安定性が改善され、安全性の高い人－ロボット協調生産システムを実現することが可能となる。本研究課題で得られた成果は、協働ロボットの適用範囲を拡大し、人－ロボット協調生産システムの本格的な普及に寄与することが期待できる。