Trajectory generation for beverage can opening operation by single and dual robot arm

Takashi Yoshimi, Yuu Ohnuki, Kazutaka Yaguchi, Yoshinobu Andou, Makoto Mizukawa

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

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.

Original languageEnglish
Title of host publicationIECON Proceedings (Industrial Electronics Conference)
Pages4282-4287
Number of pages6
DOIs
Publication statusPublished - 2013
Event39th Annual Conference of the IEEE Industrial Electronics Society, IECON 2013 - Vienna
Duration: 2013 Nov 102013 Nov 14

Other

Other39th Annual Conference of the IEEE Industrial Electronics Society, IECON 2013
CityVienna
Period13/11/1013/11/14

Fingerprint

Beverages
Trajectories
Robots

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Yoshimi, T., Ohnuki, Y., Yaguchi, K., Andou, Y., & Mizukawa, M. (2013). Trajectory generation for beverage can opening operation by single and dual robot arm. In IECON Proceedings (Industrial Electronics Conference) (pp. 4282-4287). [6699823] https://doi.org/10.1109/IECON.2013.6699823

Trajectory generation for beverage can opening operation by single and dual robot arm. / Yoshimi, Takashi; Ohnuki, Yuu; Yaguchi, Kazutaka; Andou, Yoshinobu; Mizukawa, Makoto.

IECON Proceedings (Industrial Electronics Conference). 2013. p. 4282-4287 6699823.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Yoshimi, T, Ohnuki, Y, Yaguchi, K, Andou, Y & Mizukawa, M 2013, Trajectory generation for beverage can opening operation by single and dual robot arm. in IECON Proceedings (Industrial Electronics Conference)., 6699823, pp. 4282-4287, 39th Annual Conference of the IEEE Industrial Electronics Society, IECON 2013, Vienna, 13/11/10. https://doi.org/10.1109/IECON.2013.6699823
Yoshimi T, Ohnuki Y, Yaguchi K, Andou Y, Mizukawa M. Trajectory generation for beverage can opening operation by single and dual robot arm. In IECON Proceedings (Industrial Electronics Conference). 2013. p. 4282-4287. 6699823 https://doi.org/10.1109/IECON.2013.6699823
Yoshimi, Takashi ; Ohnuki, Yuu ; Yaguchi, Kazutaka ; Andou, Yoshinobu ; Mizukawa, Makoto. / Trajectory generation for beverage can opening operation by single and dual robot arm. IECON Proceedings (Industrial Electronics Conference). 2013. pp. 4282-4287
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