風呂敷包み作業用マルチロボットシステムの運動計画法

抄録

The motion planning approach of a multi-robot system for the “Furoshiki” wrapping operations has been newly developed. This approach considers the loci of the handling points for the wrapping and the tying of the sheet. Especially, to avoid the complex motion of tying at the “Mamusubi” operation, the newly approach has been proposed. This approach divides the crossing operation into the two motions. The one is the 2-dimensional motion and the other is the wrapped object rotation around vertical axis. Also, this multi-robot system consists of the two handling robot arms, the shifting operation robot arm and the rotating mechanism for the wrapped object. The handling robot arms consist of a 2-DOF SCARA type robot and a 1-DOF linear motion system. And the shifting operation robot arm is the 3-DOF SCARA type robot which can adjust the pose of the End-effector. In this report, the proposed approach is verified using a prototype robot system. And it is confirmed that the testing rectangular object can be wrapped and tied the desired shape.