@article{oai:kanazawa-u.repo.nii.ac.jp:00043658,
 author = {Fujii, Tatsunori and Asakawa, Naoki and Hirao, Masatoshi and Kanjo, Yoshihiro and 藤井, 辰徳 and 浅川, 直紀 and 平尾, 政利 and 勘定, 善弘},
 issue = {I45},
 journal = {精密工学会学術講演会講演論文集, 2005 JSPE Autumn Meeting},
 month = {},
 note = {The study deals with an automation of the welding by generating the control command for the welding robot automatically. Generally, a movement of a robot is decided depending on the tool path – a series of position and posture of the tool attached to the mechanical interface – of the robot. We tried to generate the tool path focused on a collision avoidance of the welding tool on the bases of CAD data of the workpiece. In the study, to cope with a characteristic of the welding, which is required to be continuous in tool velocity and posture, the tool path is generated by use of a potential field in a configuration space. As a result, the system is found effective to generate smooth and collision–free tool path本研究では溶接用ロボットの動作プログラムを自動生成することによって溶接作業を自動化することを目的とする.ロボットの動作は,先端の工具の位置と姿勢によって決定される.そこで本報では工作物のCADデータを利用し,溶接工具の干渉を考慮した工具経路の生成を試みた.溶接作業では,工具の速度や工具姿勢の急激な変化を嫌うという特徴があるが,ポテンシャル場を用いることで対応した., 出版者照会後に全文公開, 金沢大学理工研究域機械工学系},
 pages = {723--724},
 title = {CADデータに基づく溶接ロボットの姿勢制御: ポテンシャルを用いた干渉回避},
 volume = {2005 Autumn},
 year = {2005}
}