Motion Control of Rolling Ball by Operating the Working Plate with a Dual-Arm Robot
Wei Wu*, Toshiki Hirogaki**, and Eiichi Aoyama**
*Graduate School of Engineering, Doshisha University, 1-3 Tataramiyakodani, Kyotanabe-shi, Kyoto 610-0394, Japan
**Faculty of Science and Engineering, Doshisha University
Recently, new needs have emerged to control not only linear motion but also rotational motion in high-accuracy manufacturing fields. Many five axiscontrolled machining centers are therefore in use. However, one problem has been that it may be difficult to achieve flexible manufacturing systems by methods based on the use of these machine tools. On the other hand, industrial dual-arm robots have gained attention as new tools to control both linear motion and rotational motion accurately, in the attempt to control a working plate like a machine tool table. In the present report, cooperative dual-arm motion is demonstrated to make it feasible to perform stable operation control, such as controlling the working plate to keep a ball rolling in a circular path on it. As a result, we investigated the influence of each axis motion error on a ball-rolling path.
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