システム制御情報学会論文誌
Online ISSN : 2185-811X
Print ISSN : 1342-5668
ISSN-L : 1342-5668
論文
WRS 2018 競技用タスクボードを用いた複数ロボットアームによる組立作業の分析
柴田 瑞穂土橋 宏規植村 渉横小路 泰義
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ジャーナル オープンアクセス

2021 年 34 巻 4 号 p. 98-106

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This paper describes comparative analyses of time-efficient multi-arm assembly using a task board for a belt drive unit. The task board was used for the World Robot Summit (WRS) 2018 competition. From the viewpoint of using multiple arms, handling multiple parts simultaneously, and representing assembly both by robot systems and by human subjects, this paper introduces the set that shows only the contact condition between the arm and the part to arrange the time series data easily. Based on this analysis, there is a significant difference in the whole work time between the robot systems and the human subjects. One of the reasons is the difference in the usage of multiple arms. It will be important for robot systems to utilize multiple arms simultaneously to realize the time-efficient multi-arm assembly.

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