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双腕ロボットによるプレート2軸旋回運動制御の運動誤差測定とその改善に関する研究
https://doi.org/10.14988/di.2017.0000016171
https://doi.org/10.14988/di.2017.0000016171b8e6a043-9f07-4ee0-9447-1f7deeeeb872
名前 / ファイル | ライセンス | アクション |
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要旨/abstaract (460.1 kB)
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zk662.pdf (15.7 MB)
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Item type | 学位論文 / Thesis or Dissertation(1) | |||||
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公開日 | 2014-07-04 | |||||
タイトル | ||||||
言語 | ja | |||||
タイトル | 双腕ロボットによるプレート2軸旋回運動制御の運動誤差測定とその改善に関する研究 | |||||
タイトル | ||||||
言語 | ja-Kana | |||||
タイトル | ソウワン ロボット ニヨル プレート 2ジク センカイ ウンドウ セイギョ ノ ウンドウ ゴサ ソクテイ ト ソノ カイゼン ニカンスル ケンキュウ | |||||
言語 | ||||||
言語 | jpn | |||||
キーワード | ||||||
主題 | 数値制御, 位置きめ精度, 双腕産業用ロボット, 作業プレート, 自動化 NC, Positioning Accuracy, Dual-arm industrial Robot, Working Plate, Automation |
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資源タイプ | ||||||
資源タイプ識別子 | http://purl.org/coar/resource_type/c_db06 | |||||
資源タイプ | doctoral thesis | |||||
ID登録 | ||||||
ID登録 | 10.14988/di.2017.0000016171 | |||||
ID登録タイプ | JaLC | |||||
アクセス権 | ||||||
アクセス権 | open access | |||||
アクセス権URI | http://purl.org/coar/access_right/c_abf2 | |||||
著者 |
呉, 魏
× 呉, 魏 |
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著者所属 | ||||||
ja | ||||||
理工学研究科 | ||||||
著者所属(英) | ||||||
en | ||||||
Graduate School of Science and Engineering | ||||||
抄録 | ||||||
内容記述タイプ | Abstract | |||||
内容記述 | 本研究は,双腕で作業プレートを支持することで閉リンク機構を構成し,作業プレートを操ることで十分な支持剛性を維持しながらプレート上での柔軟な作業空間を実現することを目指した.すなわち,ロボットでも従来の工作機械のNC制御の運動精度に近い性能を具現化する一方,人の作業に近い柔軟性を両立することであるその対象としてプレート上で球の転がりを取り上げ,その運動軌跡をコンピュータシミュレーションにより解析しながら,同時2軸の旋回運動の制御におけるその誤差解析およびその改善手法を確立する. | |||||
言語 | ja | |||||
抄録 | ||||||
内容記述タイプ | Abstract | |||||
内容記述 | Recently, industrial dual-arm robots have gained attention as novel tools and we therefore focus on them to flexible control both the linear motion and the rotational motion of a working plate. However, it is difficult to measure the synchronous accuracy of two rotary axes without high accuracy gyro sensor. Thus, we proposed a novel method to measure it with a ball, which keeps a ball rolling around a circular path on it by dual-arm cooperative control. As a result, we demonstrated this method made it feasible to estimate the synchronous accuracy of two rotary axes of working plate. | |||||
言語 | en | |||||
書誌レコードID | ||||||
識別子タイプ | NCID | |||||
関連識別子 | BB16759038 | |||||
関連サイト | ||||||
関連タイプ | isFormatOf | |||||
識別子タイプ | URI | |||||
関連識別子 | https://doors.doshisha.ac.jp/opac/opac_link/bibid/BB12863856/?lang=0 | |||||
言語 | ja | |||||
関連名称 | 掲載刊行物所蔵情報へのリンク / Link to Contents | |||||
フォーマット | ||||||
内容記述タイプ | Other | |||||
内容記述 | application/pdf | |||||
出版タイプ | ||||||
出版タイプ | VoR | |||||
出版タイプResource | http://purl.org/coar/version/c_970fb48d4fbd8a85 | |||||
学位名 | ||||||
言語 | ja | |||||
学位名 | 博士(工学) | |||||
学位名(英) | ||||||
言語 | en | |||||
学位名 | Doctor of Philosophy in Engineering | |||||
学位授与機関 | ||||||
学位授与機関識別子Scheme | kakenhi | |||||
学位授与機関識別子 | 34310 | |||||
言語 | ja | |||||
学位授与機関名 | 同志社大学 | |||||
言語 | en | |||||
学位授与機関名 | Doshisha University | |||||
学位授与年月日 | ||||||
学位授与年月日 | 2014-03-22 | |||||
学位授与番号 | ||||||
学位授与番号 | 甲第662号 |