ロボティクス・メカトロニクス講演会講演概要集
Online ISSN : 2424-3124
セッションID: 1P1-Q09
会議情報
1P1-Q09 環境変動に応じた遠隔教示軌道の切り換えによるロバストかつ効率的な組み立て作業の実現(作業をするロボット(2))
寺中 雄哉木原 康之菅野 貴皓津坂 優子札場 勇大横小路 泰義
著者情報
会議録・要旨集 フリー

詳細
抄録
This paper clarifies robust task strategy of human by replaying the remote teaching trajectories on a robot which performs a task with environmental variations. As a case study, flexible part insertion task is selected and the tightness of insertion is intentionally varied. We proposed a novel trajectory-switching method and confirm the effectiveness of the proposed method by experiments. In the proposed method, the teaching trajectories are switched based on the sensory information. According to the experimental results, the trajectory generated by the proposed method is more robust than simply replaying the human trajectories. It is also shown that lowering the gain along with the insertion direction can realize human-like search behavior and switching the trajectory by sensory information can save spent time and minimize the force exerted on the flexible part. These results show that feedback using external sensor is effective when environmental variation is substantial.
著者関連情報
© 2013 一般社団法人 日本機械学会
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