MOTION PLANNING APPROACH OF A MULTI-FINGERED ROBOT FOR CARTON FOLDING OPERATIONS

Hidetsugu Terada, Takayuki Kobayashi

Abstract

The motion planning approach of a multi-fingered robot for carton flap folding operations has been newly developed. This approach considers the loci of the tool center point for carton flap folding operations. Also that considers the pushing or fixing points of the carton flap. This approach is calculated from the rotating angle for carton flap folding and the position of a robot finger tip in contact with the carton surface, using inverse kinematics. And this approach can be adapted to changes of a carton size or a folding position. In cases in which the carton flap is folded using this approach, the robot finger tip touches the carton surface without slipping and moves along circular continuous path. Therefore in case of the rectangular carton box folding, each robot finger moves in each 2.5-dimensional Cartesian frame. In this report, the proposed approach is verified using a prototype robot system. This prototype system consists of two pairs of the robot fingers and rotating mechanism for carton paper. Each finger has a 3-DOF SCARA type robot and a 1-DOF linear motion system. The testing carton boxes can be folded to the desired shape.

References

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Paper Citation


in Harvard Style

Terada H. and Kobayashi T. (2004). MOTION PLANNING APPROACH OF A MULTI-FINGERED ROBOT FOR CARTON FOLDING OPERATIONS . In Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 972-8865-12-0, pages 353-360. DOI: 10.5220/0001126203530360


in Bibtex Style

@conference{icinco04,
author={Hidetsugu Terada and Takayuki Kobayashi},
title={MOTION PLANNING APPROACH OF A MULTI-FINGERED ROBOT FOR CARTON FOLDING OPERATIONS},
booktitle={Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2004},
pages={353-360},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001126203530360},
isbn={972-8865-12-0},
}


in EndNote Style

TY - CONF
JO - Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - MOTION PLANNING APPROACH OF A MULTI-FINGERED ROBOT FOR CARTON FOLDING OPERATIONS
SN - 972-8865-12-0
AU - Terada H.
AU - Kobayashi T.
PY - 2004
SP - 353
EP - 360
DO - 10.5220/0001126203530360