| アイテムタイプ |
学術雑誌論文 / Journal Article(1) |
| 公開日 |
2017-10-03 |
| タイトル |
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タイトル |
Development of free curved plate thickness measurement system - Improvement of interpolation for continuous path |
| 言語 |
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言語 |
eng |
| 資源タイプ |
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資源タイプ識別子 |
http://purl.org/coar/resource_type/c_6501 |
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資源タイプ |
journal article |
| ID登録 |
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ID登録 |
10.24517/00009142 |
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ID登録タイプ |
JaLC |
| 著者 |
Okugawa, Yurie
Asakawa, Naoki
Okada, Masato
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| 著者別表示 |
奥川, 裕理恵
浅川, 直紀
岡田, 将人
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| 書誌情報 |
Journal of Advanced Mechanical Design, Systems and Manufacturing
巻 8,
号 4,
p. 0047,
発行日 2014-01-01
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| ISSN |
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収録物識別子タイプ |
ISSN |
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収録物識別子 |
1881-3054 |
| DOI |
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関連タイプ |
isVersionOf |
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識別子タイプ |
DOI |
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関連識別子 |
10.1299/jamdsm.2014jamdsm0047 |
| 抄録 |
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内容記述タイプ |
Abstract |
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内容記述 |
A method to generate a high-continuity thickness measuring path has been proposed in our own developed automatic system using laser displacement sensors and an industrial robot to measure and evaluate a free curved plate thickness. Besides the system generates the thickness measuring path on the basis of the point cloud data representing a workpiece shape, in this method, a quaternion is used to represent a change in the measuring posture with squad which is an interpolation algorithm. This paper presents a new method to determine the positions and the postures of the representative points for continuous interpolation. These positions and the postures are determined using 3D Configuration space(C-Space) consisting three parameters for representing the measuring posture. For details, the measurable postures are mapped in the C-Space on each measuring point. Then, the positions of the representative points are determined using a local maximum value of the distance between centroid coordinate of the measurable postures in adjacent points. Moreover, the postures of them are determined using the common postures of adjacent points or the distance from the origin of the C-Space. The continuity of the measuring path is evaluated from the change in the joint angle of the robot. Specifically, angular acceleration of the joint angle is used to evaluate for stabilization of the high-speed robot motion. The experimental result shows that the angular acceleration of the robot joint in generated path is smaller than that of the path generated by a conventional method. |
| 著者版フラグ |
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出版タイプ |
AM |
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出版タイプResource |
http://purl.org/coar/version/c_ab4af688f83e57aa |
ME-PR-OKUGAWA-Y-0047.pdf (715.2 kB)
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