IJMO 2024 Vol.14(4): 124-128
DOI: 10.7763/IJMO.2024.V14.860
Skillful Operation of Working Plate for Grasp Less Ball Handling with an Industrial Dual-Arm Robot Considering Temperature of Joint Motors
Takumi Soga*, Hiroaki Hanai, Toshiki Hirogaki, and Eiichi Aoyama
Department of Mechanical Engineering, Doshisha University, Kyoto, Japan
Email: 0ve5f61638f1z6t@ezweb.ne.jp (T.S.); cyjh1501@mail4.doshisha.ac.jp (H.H.); thirogak@mail.doshisha.ac.jp (T.H.); eaoyama@mail.doshisha.ac.jp (E.A.)
*Corresponding author
Manuscript received April 10, 2023; revised May 10, 2023; accepted May 24, 2023; published October 23, 2024
Abstract—This paper discusses a method of skillful plate manipulation that considers the temperature of the joint motors in a work plate manipulation operation using an industrial dual-arm robot. First, we focused on the temperature of the joint motors of the robot after prolonged operation in work plate manipulation. Due to rise in joint motor temperature, a positive correlation was observed between the thermal displacement between joints and the plate angle error. We confirmed the assumption that the temperature rise of the joint motors causes the motion error of the robot. Additionally, we found that the motion error in the plate manipulation motion can be improved by correcting the generated angle error.
Keywords—industrial dual-arm robot, temperature of joint motors, grasp less ball handling, motion errors, ball rolling, circular motion
[PDF]
Cite: Takumi Soga, Hiroaki Hanai, Toshiki Hirogaki, and Eiichi Aoyama, "Skillful Operation of Working Plate for Grasp Less Ball Handling with an Industrial Dual-Arm Robot Considering Temperature of Joint Motors ," International Journal of Modeling and Optimization, vol. 14, no. 4, pp. 124-128, 2024.
Copyright © 2024 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).
