TY - GEN
T1 - Trajectory generation for beverage can opening operation by single and dual robot arm
AU - Yoshimi, Takashi
AU - Ohnuki, Yuu
AU - Yaguchi, Kazutaka
AU - Ando, Yoshinobu
AU - Mizukawa, Makoto
PY - 2013/12/1
Y1 - 2013/12/1
N2 - The purpose of this study is to execute a beverage can opening task by an articulated versatile robot arm, which is often executed in our daily life. We generated beverage can opening trajectories for position controlled single robot arm and dual robot arm. We analyzed the humans' can opening operations and generated trajectories for opening the lid of beverage can. They are sequential rotational and translational motions for a single robot arm, and their concurrent cooperated motions for a dual robot arm. We confirmed that the beverage can opening operations by single and dual robot arms are successfully achieved based on our generated trajectories. Additionally, from the comparison of these two trajectories, we found out that the trajectory of the dual robot arm is robust and efficient. And, the configuration of the motions of single and dual robot arms is different, but operations to the beverage can by each robot arm are essentially the same.
AB - The purpose of this study is to execute a beverage can opening task by an articulated versatile robot arm, which is often executed in our daily life. We generated beverage can opening trajectories for position controlled single robot arm and dual robot arm. We analyzed the humans' can opening operations and generated trajectories for opening the lid of beverage can. They are sequential rotational and translational motions for a single robot arm, and their concurrent cooperated motions for a dual robot arm. We confirmed that the beverage can opening operations by single and dual robot arms are successfully achieved based on our generated trajectories. Additionally, from the comparison of these two trajectories, we found out that the trajectory of the dual robot arm is robust and efficient. And, the configuration of the motions of single and dual robot arms is different, but operations to the beverage can by each robot arm are essentially the same.
UR - http://www.scopus.com/inward/record.url?scp=84893579622&partnerID=8YFLogxK
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U2 - 10.1109/IECON.2013.6699823
DO - 10.1109/IECON.2013.6699823
M3 - Conference contribution
AN - SCOPUS:84893579622
SN - 9781479902248
T3 - IECON Proceedings (Industrial Electronics Conference)
SP - 4282
EP - 4287
BT - Proceedings, IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society
T2 - 39th Annual Conference of the IEEE Industrial Electronics Society, IECON 2013
Y2 - 10 November 2013 through 14 November 2013
ER -