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Needs for human-robot collaboration in production automation are increasing and thus the technology for human-robot collaboration is being actively developed. User-friendly teaching tool of a robot manipulator is one of essential technologies for efficient human-robot collaboration. This paper proposes an intuitive teaching tool that can be attached to the robot and can accurately teach motions without...
Requirement for automation in the cell production system is lately increasing due to a decrease of skilled human workers. Thus dual-arm robots draw an attention for alternatives. This paper proposes a robotic cell production system with two dual-arm robots which are designed and implemented with consideration of being applied to a cell production line of cellular phone.
Beam type solar cell substrate transport robots have flexible forks to load the substrates, and the vibration caused by the flexible mode becomes the barrier to reduce the tack time. In this study, the flexible modes of the forks are identified to design the input shaper which is widely applied to attenuate the vibration caused by flexible mode. The experimental results which compare the vibration...
This paper proposes a software framework for system integration in developing a dual-arm robot. In our project, the target dual-arm robot has flexibility with several functions compared to conventional industrial robots and a software framework should be designed to integrate each component effectively. The proposed software framework is composed of several layers, i.e., a control layer, a robot language...
A joint actuation module has been developed by the author. It is able to detect joint external force or moment by unplanned collision between the robot manipulator and the environment. For this purpose it has joint torque sensor equipped on between the link and the flexspline of the harmonic drive. The limited stiffness of the harmonic drive and the joint torque sensor makes the joint actuator is...
Almost industrial robot arms have been used in the simple repetitive process such as handling, transferring and assembling the simple workpiece with large tolerance. Nowadays, industrial robots are necessary to apply to the high precise machining process and the high precise assembly process according to the change of automatic manufacturing system. For the high precise assembly process using robot...
An industrial manipulator has been developed. The purpose of the development of the manipulator was the easy and safe human-robot cooperation. Most of the industrial robot manipulator can harm the operator near the robot systems when the manipulator is doing cooperative motion with the human operator. But the developed manipulator is safe even when the manipulator is working in the workspace shared...
Generally, industrial robot has been used in the automate producing process and the repetitive process on behalf of human. Recently, the interest in the human-robot cooperative industrial robot which can work together with human through physical interaction in the same space has been increased. Human-robot cooperation technology can allow to combine work intelligence of human with high performance...
An industrial manipulator for the easy and safe human-robot cooperation is under development and the research results will be introduced in this paper. Until now, it is difficult to operate the industrial robot manipulators for not-trained worker for the manipulator operation. Moreover, most of the industrial robot manipulators are used in the separated environments because it can harm the operator...
The interest in the human-robot cooperative robot has been increased, because it can work together cooperating with human being through physical interaction in the same space. The purpose of this paper is to develop direct teaching robot with high speed and high precision, which enables operator with no robotic experience to easily and conveniently teach robot the task trajectory. In the paper, 7-axis...
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