協働型双腕ロボットアームの衝突シミュレーションの試み

抄録

In recent years, miniaturization of industrial robots with the advancement of technology and relaxation of the robots use regulations have led to the introduction of collaborative robots that don’t require a safety fence, which was conventionally installed between industrial robots and workers, spread to many industries. For example, in the case of a dual arm robot which has seven degrees of freedom arms, safety is guaranteed by detecting a collision with sensors that detect the torques installed in each joints and immediately stopping movement. In this research, we aim to create a collision model of a dual arm robot by using a dynamics engine, and simulate the motion of a collided arm.