Influence of grasping posture on the work plate's in-plane horizontal maneuvering motion for glass press handling of a dual-arm SCARA robot.

Abstract

The range of application of new industrial robots has been expanding in recent years, and measurement and evaluation techniques are indispensable to improve the accuracy of their motion. Many studies have been conducted using the DBB method, but the speed is measured at a slower speed than the actual robot movement speed. In this study, we propose a new method to diagnose the accuracy of locomotion based on the trajectory of a ball on a plate using a dual-armed SCARA robot, which is input only in the horizontal plane.