協働型双腕ロボットの開発環境構築と双腕動作の実現

抄録

While automation of production lines has progressed in recent years, it has not yet covered the handling of abnormal situations, for example, caused by the tipping of goods on a conveyor belt. In this research, a dual-arm cobot development environment is built and tried as part of construction of a mobile manipulation system using the dual-arm cobot with a freely movable wheeled mount. In this development environment, a system prototyping and trial environment based on ROS is provided, and in addition, robot behavior tools prepared by robot manufacturers are used together to enable effective simulation and actual operation of the robot. In fact, we present the planned and generated dual-arm motion of the cobot through the development environment, and confirmed that the motion of the 3D model on the computer could be displayed in conjunction with the monitoring of the total 14 DOF motion and its joint angles.