梁の固定位置推定のためのロボットアーム用エンドエフェクタ

抄録

The HR-Recycler project performed in Europe targets the development of a hybrid human-robot recycling plant for electrical and electronic equipment operating in an indoor environment. For example, when a robot disassembles a TV back panel for recycling, the vision systems detect the screw positions automatically. However, sometimes there are several hidden fixed points that are not detected by the vision system. Humans have a sensation for finding the hidden screw positions by lifting or moving the back panel. Force reactions and deformation displacements are important information for this estimation. In this paper, an end effector of an arm robot was designed and evaluated for measuring a deflection angle required for estimating the Young's modulus. A 3-axis MEMS tactile sensor was employed as an end effector sensor and the deflection angle was measured by pushing up a cantilever made of an aluminum plate.