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Volume 10, Issue 3
Displaying 1-21 of 21 articles from this issue
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Hideo Fujimoto, Shigeki Sugano1992 Volume 10 Issue 3 Pages 305
Published: June 15, 1992
Released on J-STAGE: August 10, 2010
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Yukio HASEGAWA1992 Volume 10 Issue 3 Pages 306-309
Published: June 15, 1992
Released on J-STAGE: August 10, 2010
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Hideo FUJIMOTO, Shigeki SUGANO1992 Volume 10 Issue 3 Pages 310-314
Published: June 15, 1992
Released on J-STAGE: August 10, 2010
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Toshihiro TSUMURA1992 Volume 10 Issue 3 Pages 315-319
Published: June 15, 1992
Released on J-STAGE: August 10, 2010
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Hiroshi MAKINO, Nobuyuki FURUYA1992 Volume 10 Issue 3 Pages 320-324
Published: June 15, 1992
Released on J-STAGE: August 10, 2010
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Satoru TAKASHIMA1992 Volume 10 Issue 3 Pages 325-328
Published: June 15, 1992
Released on J-STAGE: August 10, 2010
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Centralizution and distribution of System organization based on Communication amountToshio FUKUDA, Tsuyoshi UEYAMA1992 Volume 10 Issue 3 Pages 329-333
Published: June 15, 1992
Released on J-STAGE: August 10, 2010
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Koichi SUGIMOTO1992 Volume 10 Issue 3 Pages 334-338
Published: June 15, 1992
Released on J-STAGE: August 10, 2010
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Yoshiaki NIWA, Kiyotaka NISHIYAMA1992 Volume 10 Issue 3 Pages 339-342
Published: June 15, 1992
Released on J-STAGE: August 10, 2010
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Eisuke YONETANI, Norio SHIMOJO1992 Volume 10 Issue 3 Pages 343-348
Published: June 15, 1992
Released on J-STAGE: August 10, 2010
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Seiki KURIHARA1992 Volume 10 Issue 3 Pages 349-352
Published: June 15, 1992
Released on J-STAGE: August 10, 2010
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Hiroyuki KOJIMA, Takashi KAWANABE1992 Volume 10 Issue 3 Pages 353-360
Published: June 15, 1992
Released on J-STAGE: August 10, 2010
JOURNAL FREE ACCESSIn this paper, first, the equation of motion of a horizontal two-link flexible robot arm is derived. The flexible robot arm consists of first rigid link, second flexible link and a control system, and the restriction force is applied to the end of the flexible robot arm. Then, the design method of the control system with PIS control (proportional plus integral control of the strain of the flexible link) is showed, and the experimental results are demonstrated. From the experimental results, it is seen that the control performance of the present position and force control system by use of PIS control is excellent. Furthermore, the dynamic numerical simulation results of the system are demonstrated.View full abstractDownload PDF (2001K) -
Yoshihiro TAKITA, Yuji HIDA, Kazuto SETO1992 Volume 10 Issue 3 Pages 361-366
Published: June 15, 1992
Released on J-STAGE: August 10, 2010
JOURNAL FREE ACCESSTender subjects for the autonomous mobile robots are an accurate measurement of their locations. The dead reckoning method using a distance counter with wheel and a ratio gyro is generally used for them. This method is attended with the accumulation of the accidental error. This paper proposes a new measurement system of location using an optical servo system which follows a lighthouse all the time. For the luminous source of the lighthouse the infrared rays are used because they are harmless and safe for human beings. The experimental results demonstrate the effectiveness of the optical servo system for the autonomous robots.View full abstractDownload PDF (1953K) -
Toshio OGISO, Kenji MORI, Yuko OKADA1992 Volume 10 Issue 3 Pages 367-377
Published: June 15, 1992
Released on J-STAGE: August 10, 2010
JOURNAL FREE ACCESSIn order to achieve a fast and powerful motion of a robot, the development of an actuator with high output energy/weight ratio is indispensable. Output energy/weight ratio of piezoelectric motor is higher than that of magnetic motor. So, piezoelectric motors have a possibility to realize the actuator with high output energy/weight ratio. But its driving mechanism is not perfectly clarified.
In this report, we proposed a dynamic modeling method for the stator of an inclined-type piezoelectric motor which we had developed before. This model describes the mechanical characteristics (vibration mode, amount of heat) and electric characteristics (electric impedance) of the motor well and the validity of this modeling method was confirmed by experiment.View full abstractDownload PDF (2024K) -
Hiroshi NOBORIO, Joe HASHIME1992 Volume 10 Issue 3 Pages 378-384
Published: June 15, 1992
Released on J-STAGE: August 10, 2010
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Hui LIN, Hiroshi KIMURA, Eiji NAKANO1992 Volume 10 Issue 3 Pages 385-393
Published: June 15, 1992
Released on J-STAGE: August 10, 2010
JOURNAL FREE ACCESSFor an intelligent robot, determining efficiently the data of shape and posture of the objects in the real world environment will increase greatly the adaptation capacity for the unknown environment. With respect to these unknown 3-D objects, a robot vision system is proposed which is capable of constructing automatically their geometric models which include the information of both the shape and the posture or position of the objects. By means of this system, a “Visual Points Selecting Cone Intersection Method” is proposed which can select appropriate camera viewing point and direction automatically as investigating the partial shape of the object. With this method, experiments was performed which make clear that this method can get the model of object more accurately and effectively.View full abstractDownload PDF (2615K) -
Tsuneo YOSHIKAWA, Yasuyoshi YOKOKOJI, Atsuo NAOAYAMA1992 Volume 10 Issue 3 Pages 394-401
Published: June 15, 1992
Released on J-STAGE: August 10, 2010
JOURNAL FREE ACCESSIn this paper, a quasi-static object manipulation by an articulated three-fingered robot hand with slip motion of grasping is discussed. This kind of manipulation achieves more dexterous manipulation by robot hands. The equilibrium relations of fingertip forces for grasping an object are solved in three dimensions. It is assumed that a slip happens when the fingertip forces go beyond the bound of the cone of maximum static friction. Possible directions of slip within a grasp are determined from the analysis. The fingertip force which achieves a desired slip motion is determined uniquely. Finally the set of fingertip forces is obtained, and the planning method of slip motion is dicussed.View full abstractDownload PDF (1430K) -
Yasushi IKEI, Tokumasa YAGURA, Akihiro KOGA, Shogo TAKEDA, Yoshikuni O ...1992 Volume 10 Issue 3 Pages 402-410
Published: June 15, 1992
Released on J-STAGE: August 10, 2010
JOURNAL FREE ACCESSThis paper describes a new design of a fluid driven micro-actuator which can be fabricated by anisotropic etching of single crystalline silicon. The actuator has a four-way valve to regulate the work fluid and a differential piston to generate linear force. First, fundamental flow characteristics are analyzed theoretically when the fluid flows in simple channels which have rectangular and trapezoidal cross section. Applicability of the Navier-Stokes equation assumed in the analysis is confirmed about the specific dimensions used in the actuator design by actual flow measurement. Then proposed actuator is examined separately on four constituent parts by numerical resolution of the N. S. equation. Consequently the results are integrated to estimate the output of the actuator. The design parameters of piston-casing clearance, piston width and casing height are investigated to evaluate the effect on the output. Finally the output characteristics are compared with that of an electrostatic actuator. The output and the one for unit area are expected to be a hundred times and ten times as large as those of the electrostatic actuator respectively.View full abstractDownload PDF (1685K) -
Navigation in Flat and Square Enclosed AreasYoshio TAKITA, Kazuo SETO, Yuji HIDA1992 Volume 10 Issue 3 Pages 411-417
Published: June 15, 1992
Released on J-STAGE: August 10, 2010
JOURNAL FREE ACCESSAn important subject for a mechanical engineer is the development of autonomous mobile robots which have the ability to work in environments hazardous to human beings. Integrated control systems with microprocessors and various kinds of sensors can contribute to this subject. There are, however, many kinds of problems in the development of the intelligent working robots. This paper discusses the problems of navigation in flat enclosed areas and proposes the schemes to cover the entire area. The utility of the scheme is demonstrated by using a developed three-wheel robot with supersonic sensors for external sensing.View full abstractDownload PDF (2408K) -
Ideal Bilateral Response of Generalized Impedance Controlled MSMSTaisuke SAKAKI, Susumu TACHI1992 Volume 10 Issue 3 Pages 418-421
Published: June 15, 1992
Released on J-STAGE: August 10, 2010
JOURNAL FREE ACCESSThis paper presents a tele-existence master-slave manipulation system. We have proposed the impedance controlled type MSMS. The system has the arm and environment models as mechanical impedance, and gives a sophisticated operational reality with some modification of the models. In the paper, the MSMS is generalized for the system robustness and its ideal bilateral teleoperation response.View full abstractDownload PDF (614K) -
1992 Volume 10 Issue 3 Pages 421
Published: 1992
Released on J-STAGE: August 10, 2010
JOURNAL FREE ACCESSDownload PDF (117K)
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