Title:
ROBOT SYSTEM FOR FORMING KNOT, AND METHOD OF CONTROLLING THE SAME
Document Type and Number:
Japanese Patent JP2010173037
Kind Code:
A
Abstract:
To form a knot only by the motions of two working arms within a two-dimensional plane.
An object Oj to be packaged is placed on a packaging sheet S spread out on a rotary table 40. Two cord portions formed by packaging the object to be packaged with the sheet S are held and erected in their upright positions and then brought near each other slightly inward by the two working arms. In this state, an intersection is formed by rotating the rotary table. The distal end of one cord portion is inserted into a through space under the intersection, and the distal ends of the two cord portions are pulled in the direction away from each other, thereby forming the knot.
Inventors:
TERADA HIDETSUGU
YAGATA KAZUYUKI
YAGATA KAZUYUKI
Application Number:
JP2009019890A
Publication Date:
August 12, 2010
Filing Date:
January 30, 2009
Export Citation:
Assignee:
UNIV YAMANASHI
International Classes:
B25J13/00
Domestic Patent References:
| JP2592262B2 | 1997-03-19 | |||
| JPH08133239A | 1996-05-28 | |||
| JP2002308209A | 2002-10-23 |
Other References:
JPN6013013264; 寺田英嗣，小林貴之: '"箱折作業用多指ロボットの運動計画法"' 精密工学会誌 Ｖｏｌ．７０，Ｎｏ．１０, 20041005, ｐ．１２６１-１２６５, 社団法人精密工学会
Attorney, Agent or Firm:
Kenji Ushiku
Tadashi Inoue
Takaaki Teiaki
Tadashi Inoue
Takaaki Teiaki