トルク余裕度法に基づく 2 台の多関節ロボットの配置方法と動作の考察

抄録

In this research, by focusing on the joint torque acting on the robot, we propose a method to determine the arrangement of the robot based on a criterion different from the workspace of the robot and examined the usefulness of the method. When two industrial robots perform cooperative motion, it is possible to determine the arrangement of robots based on the workspace. However, when determining the arrangement of the robot based on the torque output by the joint of the robot, it is considered that the robot is arranged at a position different from that based on the working range. For this reason, we focus on the joint torque of the robot and propose a method to determine the arrangement of two compact industrial robots that perform cooperative operation and examine its usefulness. We also examine the usefulness of reducing the load on joints using link aid springs. Considering that a position with a high value of the torque margin map changes by using a spring, consider the motor torque for each joint focusing on factors that improve the torque margin.