抄録
When we teach motions to conventional industrial robot arms by Hand-Guiding instruction, the bad manipulability of the robot arms sometimes prevents us from teaching motions to them. In this paper, we apply the robot dual shell to an industrial robot arm. The robot dual shell has no contact with the robot arm. And the robot arm tracks the motion of the robot dual shell. Therefore introducing the robot dual shell improves the manipulability of the robot arm and maintains the range of movement of the robot arm. As a result, we can teach motions to the robot arm by Hand-Guiding instruction. Through the quantitative evaluation of manipulability and the practical operation, we show that the robot dual shell structure is indeed effective in improving manipulability.
