This paper discusses a method of skillful plate manipulation that considers the temperature of the joint motors in a work plate manipulation operation using an industrial dualarm robot.First, we focused on the temperature of the joint motors of the robot after prolonged operation in work plate manipulation.Due to rise in joint motor temperature, a positive correlation was observed between the thermal displacement between joints and the plate angle error.We confirmed the assumption that the temperature rise of the joint motors causes the motion error of the robot.Additionally, we found that the motion error in the plate manipulation motion can be improved by correcting the generated angle error.
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Hanai et al. (2024) studied this question.
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