五軸ロボットアームを用いた任意平面に運動を拘束するダイレクトティーチング法

抄録

In Japan, low birthrate and aging is progressing rapidly. We need to compensate for the labor shortage, because the working population reduces. As a solution to this problem, the introduction of a robot can be considered. The target is 5-axes Scott Russell robot arm in present study. As a teaching method to robot, there is a direct teaching. However, it is difficult to teach manipulator with keeping constant slope by using direct teaching method. Therefore, we propose the direct teaching method to constrain movement on arbitrary plane and verify the effectiveness of the proposed method. As a result, the movement of the robot arm can be constrained on arbitrary plane, and the effectiveness of the proposed method is shown.