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

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

研究成果: Conference contribution

1 引用 (Scopus)

抄録

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.

元の言語English
ホスト出版物のタイトルIECON Proceedings (Industrial Electronics Conference)
ページ4282-4287
ページ数6
DOI
出版物ステータスPublished - 2013
イベント39th Annual Conference of the IEEE Industrial Electronics Society, IECON 2013 - Vienna
継続期間: 2013 11 102013 11 14

Other

Other39th Annual Conference of the IEEE Industrial Electronics Society, IECON 2013
Vienna
期間13/11/1013/11/14

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Beverages
Trajectories
Robots

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

これを引用

Yoshimi, T., Ohnuki, Y., Yaguchi, K., Andou, Y., & Mizukawa, M. (2013). Trajectory generation for beverage can opening operation by single and dual robot arm. : 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.

研究成果: Conference 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. : 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. : 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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