Manuscript received April 8, 2022; revised May 30, 2022; accepted July 23, 2022; published August 23, 2023.
Abstract—When multiple robots perform a task, the user generally arranges the robots based on their working range. However, this criterion alone may place an unnecessarily large load on a robot joints. On the other hand, developments in IoT technology have facilitated the acquisition of servo information from robots and other devices. This information is expected to become increasingly important in the future. In this study, two small multi-joint robots are used to propose a method to determine robot placement based on criteria different from the robot working range. The proposed method is constructed by focusing on the joint torque working on the robot, which can be easily obtained using IoT technology. In addition, focusing on the torque margin and operating force ellipsoid derived from manipulability, we examine the cooperation of two robots to lift a weight that exceeds the range of motion of a single robot exerting a constant external force.
Index Terms—Industrial robot, torque margin, determining the arrangement
Akihiro Nabeshima, Toshiki Hirogaki, and Eiichi Aoyama are with Doshisha University, Japan. e-mail: thirogak@mail.doshisha.ac.jp (T.H.), eaoyama@mail.doshisha.ac.jp (E.A.)
*Correspondence: nabe.swag473@gmail.com (A.N.)
Cite: Akihiro Nabeshima*, Toshiki Hirogaki, and Eiichi Aoyama, "Determining the Arrangement and Cooperative Operating Control of Two Industrial Robots During Wire Driving Tasks Considering Torque Margin and Manipulability Characteristics," International Journal of Modeling and Optimization vol. 13, no. 3, pp. 96-99, 2023.
Copyright © 2023 by the authors. This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).
Copyright © 2008-2024. International Journal of Modeling and Optimization. All rights reserved.
E-mail: ijmo@iacsitp.com