Supplementary report of the fiscal 1997 regional consortium R and D project. Regional consortium field / R and D on process adaptive type flexible robot technology (first fiscal year).

摘要

Supplementary explanation was given to the reports on the following: R and D of high accuracy power sensing and positioning system, basic design of 2 freedom degree actuator and hand by pneumatic cylinder, and sensor-based skill. In the R and D of the power sensing and positioning system, the cause of not applying power control to the present industrial usage was considered to be the lack of methodology to form target values of the position and power appropriate according to the working condition and to adaptively change control modes. For this, a concept of a hierarchical base model was discussed. As to the design of 2 freedom degree actuator and hand by pneumatic cylinder, a basic planning chart was drawn up in which arm and hand were made one. Concerning the sensor- based skill, usefulness of monitoring continuous in pseudo contact point was shown from the result of the stamping. 3 refs., 20 figs., 1 tab.