Motion Planning for Cutting Flexible Objects Based on Contact State Recognition

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カテゴリ: 論文誌(論文単位)グループ名: 【D】産業応用部門（英文）発行日: 2023/07/01タイトル(英語): Motion Planning for Cutting Flexible Objects Based on Contact State Recognition著者名: Yasuhiro Kato (Graduate School of Sc ience and Engineering, Saitama University), Sho Sakaino (Faculty of Engineering, Information and Systems, University of Tsukuba), Toshiaki Tsuji (Graduate School of Science and Engineering, Saitama University)著者名(英語): Yasuhiro Kato (Graduate School of Science and Engineering, Saitama University), Sho Sakaino (Faculty of Engineering, Information and Systems, University of Tsukuba), Toshiaki Tsuji (Graduate School of Science and Engineering, Saitama University)キーワード: motion planning of manipulators，identification of materials and deformation types，time-delay neural network，contact states recognition要約(英語): Humans possess an outstanding ability to understand contact states, thereby leading to appropriate actions. In this study, we consider the operation of autonomous machining tasks on heterogeneous materials using robots; this mechanism poses a challenge as robotic machining is mainly performed on homogeneous materials using the current robotic technology. Herein, we propose a method to recognize contact states, e. g. the materials and deformation types of fragile objects, to selectively process parts of tissues without damaging other tissues. Furthermore, an identification method is proposed based on a time-delay neural network (TDNN) to identify fragile objects and their deformation types, such as elastic and plastic, for real-time applications. We used a multi degrees-of-freedom (DoF) robotic arm to cut and process fragile objects. We examined the planning of an appropriate trajectory based on the contact states identified by the TDNN during cutting motion. The selective cutting motion of a robot was demonstrated with high success rates despite variations in the cutting speed.本誌: IEEJ Journal of Industry Applications Vol.12 No.4 （2023） Special Issue on “IPEC-Himeji 2022”本誌掲載ページ: 786-792 p原稿種別: 論文／英語電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejjia/12/4/12_22004392/_article/-char/ja/ Show more