Top > IJAT > Detection of Motion Error Under Synchronous Two-Axis Control o ...

single-au.php

IJAT Vol.9 No.1 pp. 33-42
doi: 10.20965/ijat.2015.p0033
(2015)

Paper:

Views over last 60 days: 957

Detection of Motion Error Under Synchronous Two-Axis Control of a Dual Arm Robot Based on Monitoring of Ball Rolling Motion on a Plate

Wei Wu, Shun Kinoshita, Toshiki Hirogaki,
and Eiichi Aoyama

Doshisha University, 1-3 Tataramiyakodani, Kyotanabe-shi, Kyoto 610-0394, Japan

Received:
January 22, 2014
Accepted:
November 5, 2014
Published:
January 5, 2015
Creative Commons License
Keywords:
NC, positioning accuracy, dual-arm robot, working plate, automation, machine tools
Abstract
Dual-arm industrial robots have been gaining attention as novel tools in the field of new automation. We therefore focus on them to flexibly control both the linear motion and the rotational motion of a working plate. However, the difficulty of measuring the synchronous accuracy of two rotary axes without a highaccuracy gyro sensor has been a problem. We therefore propose a novel method of using a ball to measure the synchronous accuracy of two rotary axes of a working plate. The plate uses dual-arm cooperative control to keep the ball rolling in a circular path on it. In this report, we investigate the effects of the rolling friction coefficient of the ball on its sensitivity and resolution to estimate the synchronous accuracy of two rotary axes.
Cite this article as:
W. Wu, S. Kinoshita, T. Hirogaki, and E. Aoyama, “Detection of Motion Error Under Synchronous Two-Axis Control of a Dual Arm Robot Based on Monitoring of Ball Rolling Motion on a Plate,” Int. J. Automation Technol., Vol.9 No.1, pp. 33-42, 2015.
Data files:
References
  1. [1] N. Furuya, et al., “A Study on the Improvement of the SCARA Robot Motion,” J. of the Japan Society for Precision Engineering, Vol.54, No.5, pp. 173-178, 1988. (in Japanese)
  2. [2] M. Shiraishi, et al., “High Accuracy Positioning in SCARA-Type Robot by Sensor-based Decoupling Control,” ASME J. of Manufacturing Science and Engineering, Vol.122, Issue 1, pp. 166-173, 1999.
  3. [3] M. Nakagawa, et al., “A Study on the Improvement ofMotion Accuracy of Hexapod Type Parallel Mechanism Machine Tool (1st Report): The Method of Kinematic Calibration without Gravitation Deformation,” J. of the Japan Society for Precision Engineering, Vol.67, No.8, pp. 1333-1337, 2001. (in Japanese)
  4. [4] Y. Kakino, et al., “Study on the Motion Accuracy of NC Machine Tools (1st Report): The Measurement and Evaluation of Motion Errors by Double Ball Bar Test,” Trans. of the Japan Society of Mechanical Engineers, Vol.52, No.7, pp. 1193-1198, 1986. (in Japanese)
  5. [5] Y. Kakino, et al., “A Study on the Motion Accuracy of NC Machine Tools (2nd Report): Diagnosis of Motion Error Origins by Using Double Ball Bar Test,” Trans. of the Japan Society of Mechanical Engineers, Vol.52, No.10, pp. 1739-1745, 1986. (in Japanese)
  6. [6] Y. Kakino, et al., “A Study on the Motion Accuracy of NC Machine Tools (3rd Report): The Influence of Servo Control Components to the Motion Error,” Trans. of the Japan Society of Mechanical Engineers, Vol.53, No.8, pp. 1120-1126, 1987. (in Japanese)
  7. [7] Y. Kakino, et al., “A Study on the Motion Accuracy of NC Machine Tools (4td Report): Compensating for Decreasing Error of the Circle Radius during Circular Interpolation Motion,” Trans. of the Japan Society of Mechanical Engineers, Vol.54, No.6, pp. 1113-1118, 1988. (in Japanese)
  8. [8] Y. Kakino, et al., “A Study on the Motion Accuracy of NC Machine Tools (5td Report): Diagnosis of Angular Motion Error Origins,” Trans. of the Japan Society of Mechanical Engineers, Vol.55, No.3, pp. 587-592, 1989. (in Japanese)
  9. [9] Y. Kakino, et al., “A Study on the Motion Accuracy of NC Machine Tools (6th Report): Generating Mechanism of the Stick Motion and its Compensation,” Trans. of the Japan Society of Mechanical Engineers, Vol.56, No.4, pp. 739-744, 1990. (in Japanese)
  10. [10] Y. Kakino, et al., “A Study on the Motion Accuracy of NC Machine Tools (7td Report): TheMeasurement of Motion Accuracy of 5 Axis Machine by DBB Test,” Trans. of the Japan Society of Mechanical Engineers, Vol.60, No.5, pp. 718-722, 1994. (in Japanese)
  11. [11] W. Wu, et al., “Motion Control of Rolling Ball by Operating the Working Plate with a Dual-arm Robot,” Int. J. of Automation Technology, Vol.6, No.1, pp. 75-83, 2012.
  12. [12] W. Wu et al., “Investigation and Improving Method of Two Axes Synchronous Accuracy of Plate Pivot Control with a Dual Arm Robot by Estimating Ball Rolling Motion on the Plate,” Trans. of the Japan Society for Mechanical Engineers, Vol.78, No.785, pp. 292-304, 2012. (in Japanese)
  13. [13] W. Wu, et al., “Study on Estimating Motion Error of Synchronous Two Rotary Axis Control of Working Plate by Monitoring Ball Rolling Path on the Plate and Its Sensitivity (Estimation of Influence of Used Balls with a Dual-arm Robot),” Trans. of the Japan Society of Mechanical Engineers, Vol.78, No.793, pp. 3317-3330, 2012. (in Japanese)
  14. [14] W.Wu, et al., “Proposal of Improving Method of Rotational 2-Axis Synchronous Accuracy of Plate Motion Control with a Dual Arm Robot by Estimating Ball Rolling Motion on the Plate,” J. of Key Engineering Materials, Vol.523-524, pp. 889-894, 2012.
  15. [15] M. Higashimori, et al., “Dynamic Manipulation Inspired by Handling Mechanism of Pizza Master,” Trans. of the Japan Society of Mechanical Engineers, Vol.74, No.743, pp. 1825-1833, 2008. (in Japanese)
  16. [16] W. Wu, et al., “Investigation of Synchronous Accuracy of Dual Arm Motion of Industrial Robot,” J. of Key Engineering Materials, Vol.516, pp. 234-239, 2012.
  17. [17] Y. Ishikawa, et al., “Study on Rolling Friction: Variation of Rolling Force due to Surface Roughness,” Trans. of the Japan Society of Precision Engineering, Vol.45, No.5, pp. 49-54, 1979. (in Japanese)
  18. [18] M. D. H., et al., “Rolling Friction, I-Historical Introduction,” J. of American Society of Mechanical Engineering, Ser. F, Vol.91, No.2, pp. 260-263, 1969.
  19. [19] M. D. H., et al., “Rolling Friction, II-Cast-Iron Car Wheels,” J. of American Society of Mechanical Engineering, Ser. F, Vol.91, No.2, pp. 264-268, 1969.
  20. [20] M. D. H., et al., “Rolling Friction, III-Review of Later Investigation,” J. of American Society of Mechanical Engineering, Ser. F, Vol.91, No.2, pp. 269-275, 1969.

Creative Commons License  This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

*This site is desgined based on HTML5 and CSS3 for modern browsers, e.g. Chrome, Firefox, Safari, Edge, Opera.

Last updated on Apr. 18, 2024