INFLUENCE OF SUPPORT POSTURE ON WORKING PLATE OPERATION FOR GRASP-LESS HANDLING TECHNOLOGY WITH AN INDUSTRIAL DUAL-ARM SCARA ROBOT

In this study, a measurement method was developed in which a ball rolling motion is created in a circular orbit on the work plate by horizontal in-plane maneuvering motion of the plate, named graspless ball handling, and the rolling motion error with respect to the reference circle is utilized. An experiment was conducted on a teaching method for controlling the rolling motion of the ball at a position away from the center of the robot on the work plate. It was found that an error occurs in the peripheral speed in the rotation of the plate. When the work plate is grasped and the movement is taught, the program using the master-slave method was the primary influence on the motion error, confirming the possibility of correction.