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Development of Proficient Machines for Manufacturing

开发先进的制造机器

基本信息

批准号：
05505002
负责人：
IWATA Kazuaki
金额：
$ 18.24万
依托单位：
Osaka University
依托单位国家：
日本
项目类别：
Grant-in-Aid for Developmental Scientific Research (A)
财政年份：
1993
资助国家：
日本
起止时间：
1993 至 1994
项目状态：
已结题

来源：
https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-05505002/
关键词：
proficient expert model process model learning memory-based learning skill experience model-based control

项目摘要

In this report, scraping operation is firstly analyzed in order to investigate the proficient process of human. The scraping is a process to generate flat surfaces from roughly cut surfaces. It is found that the proficiency of the scraping consists of the understanding of surface shpes, planning scraping sequences, and the removal of unnecessary parts.Second, a prototype of a proficient machine tool is developed. The proficient machine tool can design machining process via process simulation and can update the process model through actual machining. Namely, it has a capability of learing from operation experience. In the learning, a desirable process model is selected among multiple process models via process simulation. After actual milling, new process model parameters are derived from measured sensor signals using a mathematical programming method. The process model correponding to current conditions is adjusted and is memorized by use of a memory-based learning. It is found that prediction correctness of the process simulation can be improved as the machine tool obtains much experience of the machining.Third, a prototype of a proficient manipulator is developed. It is consists of a sensor-feedback manipulator, a device capable of measuring human skillful motion, and a workstation for operation model construction and operation planning. Transplanting human skillful motion to a manipulator is examined. Human action during the insertion of a deformable hose into a plug is measured by use of the position and the force sensors, and analyzed with regard to the contact between the hose and the plug. It is found that the pull motion during the process is effective for the successful insertion of a deformable hose into a plug. Embedding effective pull motion in a manipulator program, it turns out that the manipulator can perform the insertion successfully.

在本报告中，首先对刮削操作进行了分析，以考察人的熟练过程。刮削是从粗略切割的表面生成平面的过程。研究发现，刮削的熟练程度包括对表面剥离的理解、刮削顺序的规划和多余零件的去除。其次，开发了一台熟练的机床样机。熟练的机床可以通过工艺仿真来设计加工工艺，并通过实际加工来更新工艺模型。即具有借鉴操作经验的能力。在学习过程中，通过过程模拟从多个过程模型中选择一个所需的过程模型。在实际加工后，使用数学规划方法从测量的传感器信号中推导出新的过程模型参数。通过使用基于记忆的学习来调整和记忆对应于当前条件的过程模型。研究发现，随着机床加工经验的积累，可以提高工艺模拟的预测准确性。第三，研制了一台熟练的机械手原型。它由传感器反馈机械手、能够测量人体巧妙运动的装置和用于操作模型构建和操作规划的工作站组成。研究了将人类熟练的运动移植到机械手中。通过使用位置传感器和力传感器测量在将可变形软管插入插头期间的人的动作，并结合软管和插头之间的接触进行分析。研究发现，在此过程中的拉力运动是将可变形软管成功插入塞子的有效方法。在机械手程序中嵌入有效的拉力运动，证明机械手能够成功地完成插入。