IJAT Vol.15 No.5 pp. 651-660
doi: 10.20965/ijat.2021.p0651


High-Precision Mobile Robotic Manipulator for Reconfigurable Manufacturing Systems

Shinichi Inoue*,†, Akihisa Urata*, Takumi Kodama*, Tobias Huwer*, Yuya Maruyama*, Sho Fujita*, Hidenori Shinno*, and Hayato Yoshioka**

*Makino Milling Machine Co., Ltd.
2-3-19 Nakane, Meguro-ku, Tokyo 152-8578, Japan

Corresponding author

**Tokyo Institute of Technology, Yokohama, Japan

February 27, 2021
May 14, 2021
September 5, 2021
reconfigurable manufacturing system, robotic manipulator, AGV

The manufacturing industry has identified a new megatrend of mass customization, which is one of the essential goals of Industry 4.0. This megatrend requires the realization of manufacturing that can respond quickly and flexibly to various changing production requirements and ensure the achievement of various quality criteria. However, the manufacturing cannot be realized by conventional manufacturing systems in which reconfigurations need to be performed by skilled engineers. This paper proposes a new reconfigurable manufacturing system concept based on an ultra-flexible transfer system. Particularly, an autonomous mobile robotic manipulator, consisting of a high-performance automated guided vehicle module and a collaborative robotic manipulator module, represents a key component of the system concept. In this context, the focus is on the cooperative control between the modules of the autonomous mobile manipulator, which is essential for high-precision processes (e.g., machining, assembly, measurement, inspection), and its wide operating area. The experimental results confirm that the proposed cooperative control improves the positioning performance of the autonomous mobile manipulator, including the time required for positioning and the positioning accuracy.

Cite this article as:
S. Inoue, A. Urata, T. Kodama, T. Huwer, Y. Maruyama, S. Fujita, H. Shinno, and H. Yoshioka, “High-Precision Mobile Robotic Manipulator for Reconfigurable Manufacturing Systems,” Int. J. Automation Technol., Vol.15 No.5, pp. 651-660, 2021.
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