精密工学会誌
Online ISSN : 1882-675X
Print ISSN : 0912-0289
ISSN-L : 0912-0289
クレーンとロボットの協調制御による重量物ハンドリング
新井 民夫大隅 久
著者情報
ジャーナル フリー

1991 年 57 巻 3 号 p. 467-472

詳細
抄録

The handling of a heavy work is a dangerous task. A crane is one of the suitable mechanisms to handle the heavy work, but it makes the suspended work vibration. This paper proposes a heavy work handling system which consists of a crane and a robot. A flexible arm is installed at the tip of the robot in order to avoid large reaction force when the robot grasps the swinging work. The mechanism is modelled as two springs and a mass. Based on this model, a cooperative control system between the crane and the robot is designed for positioning the work. The robot is position-controlled as a master and the crane is velocity-controlled as a follower. To reduce the vibration of the work, the crane is controlled through the feedback signals of both the deflection of the flexible arm and the velocity of the crane. Additionally a feedforward signal from the robot controller is used. Experimental apparatus is made with 3.9 kg weight. The performance of the system is studied with its simulation. Experimental results prove that the system is very efficient in handling heavy works.

著者関連情報
© 社団法人 精密工学会
前の記事 次の記事
feedback
Top