POINT-TO-POINT MULTIPLE-GOAL TASK REALIZATION OF MANIPULATOR AND POSITIONING TABLE: A DESIGN OF AUXILIARY LINKAGES

Authors

  • Lounell Bahoy Gueta The University of Tokyo
  • Ryosuke Chiba Asahikawa Medical University
  • Tamio Arai International Research Institute for Nuclear Decommissioning
  • Tsuyoshi Ueyama DENSO WAVE
  • Jose Ildefonso Udang Rubrico
  • Jun Ota The University of Tokyo http://orcid.org/0000-0002-4738-2275

DOI:

https://doi.org/10.23055/ijietap.2018.25.6.4291

Keywords:

industrial engineering

Abstract

A task realization for a robot manipulator system with multiple goals is presented in this paper. A combination of design methods involving programming-based and hardware-based methods is employed in the task realization. In particular, auxiliary linkages are designed with reference to a tool attachment and a base placement. A tool attachment is a fixed linkage added at the manipulator end-effector, whereas a base placement is viewed as the design of a virtual linkage at the manipulator base. The design of auxiliary linkages optimizes the length of the tool attachment and the orientation of the tool (e.g., a camera held by a manipulator in an inspection task), as well as the manipulator base placement. Goal rearrangement and motion coordination methods are integrated for minimal-time task realization. Simulations are conducted to verify the effectiveness of the proposed method. The results show that an improvement of 14% can be achieved.

Author Biography

Jun Ota, The University of Tokyo

Professor, Reserach into Artifacts, Center for Engineering (RACE)

Published

2019-01-08

How to Cite

Gueta, L. B., Chiba, R., Arai, T., Ueyama, T., Rubrico, J. I. U., & Ota, J. (2019). POINT-TO-POINT MULTIPLE-GOAL TASK REALIZATION OF MANIPULATOR AND POSITIONING TABLE: A DESIGN OF AUXILIARY LINKAGES. International Journal of Industrial Engineering: Theory, Applications and Practice, 25(6). https://doi.org/10.23055/ijietap.2018.25.6.4291

Issue

Section

Production Planning and Control

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