可操作度およびワーク配置を考慮したロボットプログラムの最適化

‐シーリング作業への適用‐

抄録

Off-line teaching systems are becoming a mainstream for making robot program instead of teaching playback systems that require worker's operation using a control device. The off-line teaching systems have enabled to make the program on a computer and to simulate the motion of robot for checking the program. However, in order to make an optimal program with consideration of prevention of sudden change in robot posture, avoidances of singularity, and optimization of workpiece placement, the operator must make the program by a lot of trial and error. In this research, we propose a method for optimization of robot motion and workpiece placement. The method is based on manipulability that measures the manipulating ability of robot, and maximizes the manipulability of postures in a robot program. As a result, we confirm the effectiveness of the proposed method by applying it to sealing process.