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

摘要

Recently, many developers have begun paying more and more attention to multi-joint dual-arm robot, and it is expected the robot will reclaim its place in the field of new automation. Industrial dual-arm robots have therefore gained attention as new tools to control both linear motion and rotational motion accurately. On the other hand, the five-axis control machining center controlling the motion of three translation axes and two rotary axes has put into wide practical use. However, a one problem has been that it may be the difficult to measure the synchronous accuracy of two rotary axes without high accuracy gyro sensor. In the present report, we proposed a novel method to measure the synchronous accuracy of two rotary axes of machine tool table with a ball, which keeps a ball rolling around a circular path on the working plate by dual-arm cooperative control. As a result, we investigated an influence of each axis motion error on a ball- rolling path, and demonstrated this method made it feasible to estimate the synchronous accuracy of two rotary axes of machine tool table.