292

C No.2011-JCR-0879
78 785 2012-1

*1 *2 *2

Investigation and Improving Method of Two Axes Synchronous Accuracy of Plate

Pivot Control with a Dual Arm Robot by Estimating Ball Rolling Motion on the Plate

Wei WU *1, Toshiki HIROGAKI and Eiichi AOYAMA

*1
Doshisha Univ. Dept. of Mechanical Engineering
Miyakodani 1-3,Tatara, Kyoutanabe, Kyoto, 610-0321 Japan

Recently, many developers have begun paying more and more attention to multi-joint dual-arm robot, and it is expected the
robot will reclaim its place in the field of new automation. Industrial dual-arm robots have therefore gained attention as new
tools to control both linear motion and rotational motion accurately. On the other hand, the five-axis control machining center
controlling the motion of three translation axes and two rotary axes has put into wide practical use. However, a one problem
has been that it may be the difficult to measure the synchronous accuracy of two rotary axes without high accuracy gyro
sensor. In the present report, we proposed a novel method to measure the synchronous accuracy of two rotary axes of
machine tool table with a ball, which keeps a ball rolling around a circular path on the working plate by dual-arm cooperative
control. As a result, we investigated an influence of each axis motion error on a ball- rolling path, and demonstrated this
method made it feasible to estimate the synchronous accuracy of two rotary axes of machine tool table.

Key Words : NC, Positioning Accuracy, Cooperative Control, Dual-Arm Robot, Working Plate, Automation, Machine
Tools

1.

FA(Factory Automation)
FA CNC AGV(Automated Guided Vehicle)
CNC(Computerized Numerical Control)
CNC
1949 MIT 3 3
m FA

3 2 5

(1)

*
2011 10 10
*1
610-0321 1-3
*2

E-mail: thirogak@mail.doshisha.ac.jp

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(2)

CNC
FA
(3)(4)(5)

(6)
2
2
2 DBB (7)(9)
2 2

(a) Definition of Ji (b) Definition of coordinate

Fig.1 Dual-arm robot

2.

21
MOTOMAN-DIA10 1
7

1 15 1 J1J15 98kgf
10kg
196kgf20kg
X 1000mm/min Z Z

Y Y X

CW
100 m/div 50 m/div 100 m/div
CCW
(a)X-Y (b)Y-Z (c)Z-X (d)X-Y for dual arm
Fig.2 Set up for DBB evaluation (right arm fixed) Fig.3 Motion accuracy of robot (left arm fixed)

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X 1000mm/min Z Z
X 1000mm/min
Y Y X
Y

CW CW
100 m/div 100 m/div 50 m/div CCW 200 m/div
CCW

Fig.4 Motion accuracy of robot (right arm fixed) Fig.5 Motion accuracy of robot (dual arm)

22 2
DBBDouble Ball
(7)(9)
Bar QC-10
DBB 100mm 2
35 2d 200mm
DBB
10m 1mm
1000mm/min
DBB X-YY-ZZ-X 1000mm/min
2 35 1(b) Y-ZX-Z
X-Y
34
0.20.6mm Y-ZX-Z J1,J8
X-Y J2,J9
5

3.

31
1 FA
2
2 2

6(a) (10)Om-XmYmZm
6 (b)X
XY Z Y
CCW 6
(11) m B
z B
m X B , m YB m B
0 r M

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Centrifugal force
Frictional force
r zm
XB
Viscous force m

Mg
Xm
Gravitational force

(a) (b)
Fig.6 Model of ball rolling on working plate

d2mXB d mX B d
M 2
Mg sin f D M mX B ( ) 2 (1)
dt dt dt

f D
MmXB(d/dt)2

d 2
I rf (2)
dt 2

I (2)

I d 2
f (3)
r dt 2

(1)(3)

d2mXB I d 2 d mX B d
M 2
Mg sin 2
D M mX B ( )2 (4)
dt r dt dt dt

d mX B d
r (5)
dt dt

(5) t

d2mXB d 2
r (6)
dt 2 dt 2

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I2/5Mr2 (6)(4)

d2mXB 5 d mX B d
M 2
( Mg sin D M mX B ( ) 2 ) (7)
dt 7 dt dt

d2mXB 5 d mX B 5 m d
2
g sin DM X B ( )2 (8)
dt 7 dt 7 dt

DM5D/7M
t 2ff 2/T ff HZT
s, 0 X-Y Z-X Z-Y

Y X (t) 90 X-Y

d 2 mX B d mX B m d 2
2 5 5 X B ( dt )
dt g ' DM dt (9)
7 d YB 7 mYB ( d ) 2
2m m '
d Y B
dt 2 dt dt

(t ) 0 sin(t ) (10)

' (t ) '0 sin[t ] 0 sin[t ], (0 ) (11)

9000 ( 0/0==1)14
60045020mm
5mm 0.003mm

32
X-Y
(8), (9)
FBall FBall =5/7Mg X,Y
X (8) mVB X

d mVB
D 5 d m
( ) 2 VB 1 / M
mdt M 7 dt m FBall (12)
d X B 1 0
X B 0
dt

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5 d 1
s mVB ( s) mVB (0) DM mVB ( s) ( ) 2 m X B ( s) FBall ( s)
7 dt M (13)
s X B ( s) X B (0) VB ( s)
m m m

Fig.7 Block diagram of motion control of ball

4.

41
7 FBall
m/N 8 8

22mm
31g
0.05mmDM =0.5 [Ns/ mkg]9
9 R100mm

42
Z 10

t=0 x=-0.17m, y=-0.25m dx/dt=0,

dy/dt=0
60cm FinePix Z200 640
480 0.63mm/ 30fps
Photoshop 600450mm
R0.05m 03 T2.3s 2.7rad/s
Z 10 10
17s Z (=Rsin0)

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Fig.8 Bode diagram of ball vibration on working plate

Fig.9 Predicted motion on working plate Fig.10 Height change of ball at Z direction

Fig.11 Amplitude of ball in X-Y axis Fig.12 Rolling path of experiment and simulation result
(03T2.3s R0.05m)

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43 XY
XY 11 XY 12 XY
11 17s
10 12
(9)3

6(a) XR2
XR1 =0

d 2 X R1
M f (14)
dt 2

(2)
XR2

X R 2 r (15)

(14)(2)(15) XR1 XR2

d 2 X R1 d 2 X R 2
/ 2/5 (16)
dt 2 dt 2

XR2 60% 40%

XR1 12

44

13 1(a) J1J14 14 1(b) X Y
03 T3.3s 1.9rad/s R0.1m

14
CNC T/36

Fig.13 Motion error of rotating ball on working plate

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14 13

R 10mm X Y-Z
3 4 Y-Z Z=0
14 X 0
20 100mm
20 15 15
10mm 15
Y J1 J7
X Y

2
8
T /16
T /8T /4
T /8
T /4

Fig.14 Tilting angle of working plate (36 segmentation) Fig.15 Tilting angle by operator after 20 generations

Fig.16 Rolling path with only angle controlling error

(a) 91difference (b) 95difference

Fig.17 Result of simulation and experiment (Phase difference= 91, 95)

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45
13
2
(11)1 2
13 X Y 0.503.50=3
16 Y 13
Y X 2
X Y 9195
003 T3.3s R0.1m 17 17 (a) X
Y 91(b) X Y 95
X Y 13


1011 0 0 11

46
(10),(11) 2
1819 16 =90
001 X 0
3 =0-00+0=61+06 b
a Re=2(b-a) 18 Re

2 X Y 90
=-90 17 X
19 b a
Re=2(b-a) 19(a)
20 45 19(b)
Re
=15=1, 2
20 X

Re03=0-01+06
21 21 =06 Re
22
X 16(a) 45
Y
(10)(11) 2 2
X Y
=0
=0 X Y
0 0
2

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Fig. 18 Influence of operating angle on circular orbit

(a) (b)
Fig. 19 Influence of degree of leaning angle with X-axis on synchronous control angle

(a) (b)
Fig. 20 Result of simulation and experiment (Synchronic error =15Phase difference =1, 2)

Fig. 21 Influence of angle error and synchronous error on Fig. 22 Influence of degree of leaning angle with
circular orbit X-axis on angle and synchronous error

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47
8

(9)DMDMD/M
03 T3.3s 23 23

D
0.13DM4 [Ns/ mkg]
R 0.1m R 0.01m

Fig.23 Radius change by damping

5

2

2 2 X Y
X Y

3
2 1
4

(1) Vol.63No.12(1997) ,

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pp.1671-1675
(2)
5

Vol.74No.6,(2008),pp. 632-636
(3) 2
C Vol.66No.647,(2000) ,pp.2292-2297
(4)


C Vol.61No.591,(1995),pp. 4365-4371
(5) M.W.M.G


Vol.13No.4(1995),pp. 532-537
(6) Wei WU, Toshiki HIROGAKI and Eiichi AOYAMA, Controlling a Working Plate with New Industrial Dual-Arm Robots,
Proceedings of International Symposium on Flexible Automation 2010, (2010), Jps2497, pp.1-4.
(7)
NC 1 DBB
Vol.52No.7(1986),pp. 1193-1198

(8)
NC 2 DBB
Vol.52No.10(1986),pp. 1739-1745

(9)
NC 3
Vol.53No.8(1987),pp. 1220-1226

(10)
Mathematic (2006),pp.153-161
(11)

C Vol.74No.743(2008),pp. 1825-1833

304 2012 The Japan Society of Mechanical Engineers