%0 Journal Article
%A Hiroaki Hanai
%A Akira Mishima
%A Atsuyuki Miura
%A Toshiki Hirogaki
%A Eiichi Aoyama
%T Realization of Skillful Musical Saw Bowing by Industrial Collaborative Humanoid Robot
%J Advances in Science, Technology and Engineering Systems Journal
%D 2022
%V 7
%N 5
%P 1–9
%R 10.25046/aj070501
%U https://www.astesj.com/v07/i05/p01/
%> https://www.astesj.com/?sdm_process_download=1&download_id=71041
%X <div class="wpb_text_column wpb_content_element"> <div class="wpb_wrapper"> <p style="text-align: justify;">We have been studying the application of the musical saw, an unknown and advanced tool, to a cooperative humanoid robot for industrial use. A sound feedback system using mallet strike technique and the sound generated by the technique was constructed in the previous reports. The system enables tuning to a target frequency and control to enhance the purity of the pronunciation. However, the bow manipulation often used by skilled players has not yet been examined. In addition to striking, we concentrated on bowing motion, which is used in musical saw manipulation evaluation. Furthermore, it is necessary to generate self-excited vibration by stick-slip based on manipulation. Therefore, it is necessary to control the pressure and speed between the bow and the musical saw to confirm the occurrence of self-excited vibration and the vibration itself. In this study, in addition to the generation of sound by the self-excited vibration, the pure sound nature of the vibration will be discussed. This is different from the approach to suppressing self-excited vibration that has been implemented in previous studies. Furthermore, we will show how an industrial cooperative humanoid robot can be used to manipulate a musical saw with a bow skillfully.</p> </div> </div> <div class="vc_separator wpb_content_element vc_separator_align_center vc_sep_width_100 vc_sep_pos_align_center vc_separator_no_text vc_sep_color_grey wpb_content_element wpb_content_element"></div>
%K Factory automation
%K Industrial collaborative humanoid robot
%K Bowing
%K Dual arm coordination
%K Manufacturing system
%K Self-excited vibration
%K Wireless Measurement
%K FEA (Finite element analysis)
%K Musical saw
%K Sound Analysis
%K Tool manipulation
%K Tool sharing