This paper describes the improvement of a system to perform remote assembly work using a haptic device with a single degree of freedom. Assembly has generally 6 degrees of freedom, but it is composed of the repetition of motions in a two-dimensional plane, when we focus on one operation.In this paper, we propose detection of a contact point using a force sensor without geometry information of parts in the planar parts mating tasks, and report how the inclination from a supposed two-dimensional plane effects on the error of detection result.

With the recent advances in industrial robot the motion control, there is a demand for a method that can easily measure the accuracy of the synchronous control of dual-arm selective compliance assembly robot arm (SCARA) robots. Therefore, in this study, a measurement method was developed in which a ball rolling motion is created in a circular orbit on the work plate and the rolling motion error with respect to the reference circle is utilized. An experiment was conducted on a teaching method for controlling the rolling motion of the ball at a position away from the center of the robot on the work plate. It was found that an error occurs in the peripheral speed in the rotation of the plate. When the work plate is grasped and the movement is taught, the program using the master–slave method was the primary influence on the motion error, confirming the possibility of correction

Industrial robots that work in the field are always in continuous motion for a long period of time, and it is essential to understand the motion errors caused by this motion. In this study, we proposed a correction method for the motion error caused by the long-time glass-press handling, in which the robot manipulates the object on the working plate by applying temporal changes to the object forces such as gravity.

To discuss the applicability of soft-machining to robotic drilling, the effects of the load on the drill tip, drill feed rate and workpiece holding condition on the hole quality were experimentally examined through the drilling of A2017. The soft-machining can drill the through hole regardless of the load, drill feed rate, and workpiece holding conditions. The obvious spreading of hole diameter and burr formation was not observed at the entrance of holes. As for the exit burr, there was no clear relationship with the load point deflection and burr generation tended to be suppressed in case the workpiece was easily displaced when the load was applied. The soft-machining showed the same relationship between thrust force and drill feed rate as in the drilling using a general NC machine. In addition, the softmachining tool can self-controlled the drill feed rate to the conditions that suppressed burr generation.

There are many attempts to replace the old vessels with vessel-structured gels. To improve the shape accuracy of the vessel-structured gels, we developed a novel 3D printing system whereby the circle-patterned sol materials are physically hardened by adding the cross-linking agent. In this study, we investigated the effect of adding gelatin to the cross-linking agent on shape accuracy of the fabricated structure. From the result of printing experiments, we found that adding gelatin to the cross-linking agent prevents increase in the thickness and narrowing of the inner wall of fabricated vessel structure. Also, we obtained the best shape accuracy at a gelatin concentration of 3.0 mg/mL.