Yoshinori Abe, Takayoshi Hino and Nobuhiro Kyura
Yaskawa developed a new and unique motor‐operated handling equipment “Motohand®” which is used in various fields of industries. Today more than 300 sets are operating in actual…
Abstract
Yaskawa developed a new and unique motor‐operated handling equipment “Motohand®” which is used in various fields of industries. Today more than 300 sets are operating in actual production lines. According to the development of automation concept and tools, the main theme becomes the automation of the sophisticated operations with flexibility. The sophisticated operations mean: • handling in the integrated manufacturing, • operation caused by variation of work type, • operation which depends upon experiences of the operator, • and so forth. The unfavorable work is also one of the main themes which much worries operators. At this step the new concept of production system and tools for these requirements must be developed. Here, in this paper, an industrial robot “Motoman®” is introduced as one of the new automation tools. The robot “Motoman®” consists of: • 5 degrees of freedom with electric digital servo drive, a 16‐bit microcomputer, 5 degrees of freedom make it possible to reach any point in the operation space and to set any posture. The microcomputer, organically connected to the robot mechanism, makes it very simple to make operation program in both teach‐in play‐back and programmed sequencial operation. Using the robot with know‐how and specification of the respective application, we can enlarge the horizon of automation and challenge to release human from the unfavorable work.
Tao Zhang, Masatoshi Nakamura, Satoru Goto and Nobuhiro Kyura
Aims to realize the high accurate contour control with high‐speed motion of articulated robot manipulator (ARM) with interference.
Abstract
Purpose
Aims to realize the high accurate contour control with high‐speed motion of articulated robot manipulator (ARM) with interference.
Design/methodology/approach
Proposes a new contour control method by using Gaussian neural network (GNN) to solve the problem of the deterioration of the contour control performance due to the interference between robot links. The construction of the GNN controller and the approximation of the interference are based on the Euler‐Lagrange model of ARM. The actual input/out data about the motion of ARM are used for training the GNN to accurately represent the inverse dynamics of ARM with interference. With the Lyapunov function, the stability and the robustness of the GNN controller are discussed. Through the simulation and experiment, it verified that the precision of the contour control has been improved, and illustrated the good features of the proposed method.
Findings
Finds that the actual data about the motion of ARM, which is easily obtained from the working field, can express the real features of ARM, and the GNN controller can improve the precision of the contour control with good features.
Practical implications
The proposed method provides an effective method for realizing high accurate contour control of ARM with interference. It can be extended to the ARMs with more than two links and concerning more factors affecting the precision of the contour control, such as friction or gravity.
Originality/value
Proposes a new GNN controller for realizing high accurate contour control of ARM with interference, which is significant for industry.