Pythonによる産業用双腕ロボットの動作実験用インタフェースの試作

抄録

This study introduces a Python-based motion experimental interface for industrial dual-arm robots (This study focuses on ABB’s YuMi). The interface facilitates robot motion verification and experimentation by providing an intuitive graphical user interface (GUI) for specifying robot motions. Users can input parameters such as end-effector coordinates, joint angles, and velocities without requiring knowledge of ABB robot’s dedicated language, RAPID. The interface establishes a connection between Python programs and RAPID, enabling combined robot control. This paper discusses the design, implementation, and experimental results of the interface in both on simulation and on physical robots. The proposed interface aims to improve the efficiency of motion planning, verification and experimentation for dual-arm robots, which are increasingly being applied to complex tasks in industrial settings.