Study on Estimating Motion Error of Synchronous Two Rotary Axis Control of Working Plate by Monitoring Ball Rolling Path on the Plate and Its Sensitivity (Estimation of Influence of Used Balls with a Dual-Arm Robot)

摘要

Recently, industrial dual-arm robots have gained attention as new tools in the field of new automation. We therefore focus on them to flexibly control both the linear motion and the rotational motion of a working plate. However, one problem has been that 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 the synchronous accuracy of two rotary axes of working plate with a ball, which keeps a ball rolling around a circular path on it by dual-arm cooperative control, and demonstrated this method made it feasible to estimate the synchronous accuracy of two rotary axes of it. In the present report, we investigated an influence of used ball and the offset error of plate rotary motion on estimating accuracy.