| 203D4 |
|---|
| Evaluation of Contour Control Performance for Co-operative Work of Articulated Robot Arms |
| AUTHORS |
| Masatoshi NAKAMURA, Yuichiro MOTOYAMA, Satoru GOTO (Saga University) Nobuhiro KYURA (Kinki University) |
| ABSTRACT |
| Robot arms are employed in various industrial applications such as welding, cutting grinding etc. Some of the operations cannot be realized by one robot, due to the limits in speed and operating range. Thus, it is suggested to employ two robot arms with co-operative work. In this paper, contouring control is implemented by co-operative work of robot arms. Optimal controller is designed by evaluation of position error, maximum velocity and maximum acceleration of the two robot arms in case of implementing co-operative work. Precise contouring operation by co-operative work has been realized successfully by considering torque limit. |
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Annual Conference 2002