PID位置制御系を有する2台の産業用ロボットの協調システム
2000 年 66 巻 641 号 p. 153-158
詳細
2000 年 66 巻 641 号 p. 153-158
We propose a strategy for cooperation of multiple PID position-controlled manipulators. Free joint mechanisms are installed at the tip of each manipulator to avoid excessive inner forces due to mutual positioning errors of manipulators. Since the cooperative system has kinematic redundancy due to additional passive joints for cooperation, a way to exploit the redundant degrees of freedom is proposed based on the kinematic analysis of the cooperative system. A cooperative mechanism consisting of four passive joints with electro-magnetic brakes is developed and the effectiveness of proposed algorithm is verified by experiments using two industrial robots.
