2台のロボットの一本化による全方向からアクセスする必要のある作業の実現法

抄録

This paper proposes a method to combine two simple manipulators so that they make a redundant chain for performing a task requiring accessibility from overall directions. For tracing a welding seam on a small-sized object, a tool like a torch or nozzle is needed to access the object widely from any direction in a limited area. However, a single manipulator is difficult to bring about the accessibility. Therefore, the combination of the two manipulators is important. Control variables of rotational and prismatic joints expressed with link parameters of the chained manipulators are discussed for solving. Actually, the task of tracing a curve on a bulb with a certain angle is treated for simulating a welding of a golf head which is roughly welded with three curved pieces. Also, the calculation of the control variables are shown to be valid by the results of the simulation and the observation of experimental demonstration.