成果報告書詳細
管理番号20110000001184
タイトル*平成22年度中間年報 次世代ロボット知能化技術開発プロジェクト 作業知能(生産分野)の開発 作業知能(生産分野)の研究開発(1)
公開日2011/10/12
報告書年度2010 - 2010
委託先名IDEC株式会社
プロジェクト番号P08013
部署名機械システム部
和文要約和文要約等以下本編抜粋:1.研究開発の内容及び成果
(1) 知能モジュール群の研究開発
a.ティーチング時間の削減に関する知能モジュール群
ティーチング時間の削減に関する知能モジュール群は、図1に示した実証システム
において、ティーチングに一番時間を費やしている部品トレイのティーチング時間を画像処理技術にてオートティーチングすることにより、大幅にティーチング時間短縮する知能モジュール群を開発し、そのロバスト性を向上させた。ステレオカメラで部品トレイの概略座標を認識し、精度の良い位置座標が必要な時は、ロボットハンドのハンドカメラにて詳細座標を認識する形態をとる。今後も引き続き、ティーチング座標の位置精度やロバスト性の向上を目指す。
英文要約1.Development of intelligent modules. a) Update the robot technology components for OpenRTM-aist-1.0.0-RELEASE. The robot technology components, which IDEC had developed, updated for OpenRTM-aist-1.0.0-RELEASE. The robot technology components have the function to achieve "reduction of the robot teaching time", "automatically recovery from minor-stoppages" and "prevention of minor-stoppages", those are the research and development themes of IDEC. Several robot technology components work in concert with each other. b) Development the robot technology components. Some robot technology components, that can control camera manufactured by each company, were developed based on architecture for robot technology component consists of general interface module and device-dependent module. As a result of communization of general purpose modules, only the development of camera dependent RTC is necessary, when other camera is applied. The established RT components system is very flexible to change. The robot technology components, which totally control the robot technology component were also developed. As a result, it became possible to switch the system of the robot technology components, and the cooperation of functions became smooth. c) Operation verification. The robot technology components ware connected mutually, and the operation verification of "reduction of the robot teaching time", "automatically recovery from minor-stoppages" and "prevention of minor-stoppages" were done on the proof system. 2. Verification of reutilization of intelligent modules. The intelligent modules developing in IDEC and Mitsubishi Electric Corporation was introduced into each proof system to verify reutilization. a) Verification of reutilization of intelligent modules of Mitsubishi Electric Corporation. The intelligent modules of Mitsubishi Electric Corporation and the inner force sensor was introduced into the proof system of IDEC to verify reutilization. The intelligent modules of Mitsubishi Electric Corporation have the function to analyze power information obtained from the inner force sensor and to display plainly on the screen of the personal computer. The teaching time can be expected to be reduced further by using the intelligent modules of Mitsubishi Electric Corporation and the inner force sensor for the final adjustment of the teaching of the auto teaching function of IDEC. b) Verification of reutilization of intelligent modules of IDEC. The robot hand and the wireless safety signal pendant, which IDEC had developed, were introduced into the proof system of Mitsubishi Electric Corporation to verify reutilization. In addition, it was verified that the wireless safety signal pendant was offered to Kyoto University (mobile robot consortium), and the mobile robot stopped the emergency by the wireless safety signal pendant.
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