磁力センサを取り付けたロボットによる曲面倣い制御

抄録

This paper describes the proposal of a magnetic force sensor which enables a robot to follow a 3-D curved surface. The magnetic force sensor has a permanent magnet at one probe end and a three axial dynamometer at the other end. Since the magnet is attracted in the normal direction of the surface, which of course must be ferromagnetic, the inclination of the sensor axis from the normal can be detected by measuring the components of the off-axial force. Therefore, the robot can direct the sensor axis in the normal. Then the displacement from the surface can be obtained using the relation between the displacement and the attraction force which is now on-axial. In this way, the robot can follow the curved surface with the sensor axis normal to the surface, keeping the sensor end a constant distance away from the surface. In the present work, characteristics of the sensor are investigated, and measurement of a surface contour is tried using an articulated robot installed with the magnetic force sensor.