巻号一覧
10 巻, 5 号
選択された号の論文の26件中1～26を表示しています
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池田 喜一1992 年 10 巻 5 号 p. 557
発行日: 1992/09/15
公開日: 2010/08/25
ジャーナル フリーPDF形式でダウンロード (161K) -
本田 忠義1992 年 10 巻 5 号 p. 558-562
発行日: 1992/09/15
公開日: 2010/08/25
ジャーナル フリーPDF形式でダウンロード (7220K) -
加藤 和利1992 年 10 巻 5 号 p. 563-569
発行日: 1992/09/15
公開日: 2010/08/25
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西 亮1992 年 10 巻 5 号 p. 570-574
発行日: 1992/09/15
公開日: 2010/08/25
ジャーナル フリーPDF形式でダウンロード (5300K) -
広瀬 茂男, 長久保 晶彦1992 年 10 巻 5 号 p. 575-580
発行日: 1992/09/15
公開日: 2010/08/25
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佐藤 多秀, 森田 弘文1992 年 10 巻 5 号 p. 581-589
発行日: 1992/09/15
公開日: 2010/08/25
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阿部 琢志1992 年 10 巻 5 号 p. 590-593
発行日: 1992/09/15
公開日: 2010/08/25
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後藤 建二1992 年 10 巻 5 号 p. 594-595
発行日: 1992/09/15
公開日: 2010/08/25
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西上 雅朗, 水島 敏文1992 年 10 巻 5 号 p. 596-598
発行日: 1992/09/15
公開日: 2010/08/25
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柘植 宗紀1992 年 10 巻 5 号 p. 599-601
発行日: 1992/09/15
公開日: 2010/08/25
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中村 寿夫1992 年 10 巻 5 号 p. 601-603
発行日: 1992/09/15
公開日: 2010/08/25
ジャーナル フリーPDF形式でダウンロード (3094K) -
岡田 晃1992 年 10 巻 5 号 p. 604-605
発行日: 1992/09/15
公開日: 2010/08/25
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内藤 紳司1992 年 10 巻 5 号 p. 606-608
発行日: 1992/09/15
公開日: 2010/08/25
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竹村 健一1992 年 10 巻 5 号 p. 609-611
発行日: 1992/09/15
公開日: 2010/08/25
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時岡 誠剛, 酒井 幸雄, 石上 信哉1992 年 10 巻 5 号 p. 612-614
発行日: 1992/09/15
公開日: 2010/08/25
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浦上 不可止1992 年 10 巻 5 号 p. 615-616
発行日: 1992/09/15
公開日: 2010/08/25
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―壁面作業ロボット特集に関連して―島田 明1992 年 10 巻 5 号 p. 617-620
発行日: 1992/09/15
公開日: 2010/08/25
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播磨 浩一, 川口 淳一郎, 中谷 一郎1992 年 10 巻 5 号 p. 621-631
発行日: 1992/09/15
公開日: 2010/08/25
ジャーナル フリーThis paper describes a retraction control scheme for a space manipulator after grasping a floating object in space. Many control methods for a pre-retracting phase have been proposed by other authors. However those for a retracting phase have been very few, and the essential problem which an object is moving had not been treated so far. Firstly we divide a retracting process into four phases, and clearly show the problems to be resolved. Secondly we derive a new kinematic equation which relates angular velocities of joints with the integral of force and moment at an end-effector in space. Thirdly a force control method is proposed by using that important equation, and the possibility to grasp within the admissible error is proved effective: This control method corresponds to a velocity control for an end-effector feedbacking the integral of force and moment considering the derived kinematic equation. Fourthly we apply that control method to a retraction control, and demonstrate the stability of the proposed control scheme. Finally the effectiveness of the proposed retraction control method is shown by computer simulations.抄録全体を表示PDF形式でダウンロード (1899K) -
吉川 恒夫, 栗栖 正充1992 年 10 巻 5 号 p. 632-638
発行日: 1992/09/15
公開日: 2010/08/25
ジャーナル フリーMoving an object on a work surface by pushing it is one of the operations which are required in the robotic manipulation. The motion of the pushed object is closely related to the distribution of the frictional force between the object and the surface. When the pushing force vector applied to an object passes through the center of friction which is the centroid of the friction distribution, the motion of the object is a pure translation. In this paper, we describe a method for estimating the friction distribution of an object and the position of the center of friction by pushing the object several times using a manipulator. First, on the assumption that the object has several points in contact with the work surface, we suppose the position of the points. By this supposition, we derive a linear equation relating the pushing force and the friction distribution. Then, substituting the measurements obtained from pushing the object several times by the manipulator into this equation, we estimate the friction distribution. Simulation and experimental results show the effectiveness of the approach.抄録全体を表示PDF形式でダウンロード (2595K) -
吉川 恒夫, 横小路 泰義, 豊嶋 毅1992 年 10 巻 5 号 p. 639-647
発行日: 1992/09/15
公開日: 2010/08/25
ジャーナル フリーAn efficient computational algorithm for motion control of multi-arm free flying robots in space is discussed. For the motion control of the space manipulator mounted on a spacecraft, the movement of spacecraft itself must be considered. The generalized. Jacobian matrix is one of the good ways to solve this problem. Though an efficient computational algorithm of the generalized Jacobian was shown, it does not have a good prospect to extend to the case of multiple arms. For dexterous manipulating tasks, cooperative manipulation by multi-arm manipulators is desirable. In this paper, we show that the generalized Jacobian for multi-arm space manipulators can be obtained efficiently by regarding the total multiple-link system as a composite system which consists of two links with one joint. The proposed algorithm is applicable to any tree-structured multiple arm manipulators with not only rotational joint but also prismatic joint except close loop structure. We also show an efficient computational algorithms of the resolved acceleration control for multi-arm space manipulators.抄録全体を表示PDF形式でダウンロード (2564K) -
山藤 和男, 小林 剛, 河村 隆1992 年 10 巻 5 号 p. 648-654
発行日: 1992/09/15
公開日: 2010/08/25
ジャーナル フリーPostural control of a falling cat was investigated analytically and experimentally. The authors intended to develop such a robot as a cat that could restore her attitude at free fall by twisting and controlling the body. There are still contradictory and ambiguous explanations among the text books of physics or dynamics which deal twisting motion of a cat. Firstly, the principle of the twisting motion of a robot cat was analysed using a jointed double column model. And it was made clear analytically that a cat could restore her attitude by bending and twisting the body in the air. Then, the authors developed the robot cat which had vertebrate-type backbones and twisting mechanisms. It was confirmed experimentally that the robot cat could control its attitude by 180 degrees' rotation within 0.6 second when it was released upside-down at about 1.8m height in the air.抄録全体を表示PDF形式でダウンロード (5970K) -
前田 太郎, 荒井 裕彦, 舘 〓1992 年 10 巻 5 号 p. 655-665
発行日: 1992/09/15
公開日: 2010/08/25
ジャーナル フリーIt has become necessary to develop a light-weight head-mounted display as a man-machine interface with a sensation of presence in tele-existence teleoperation and virtual-reality technology. Design for such displays needs knowledge of human factor and physiological optics. However, on general method has been proposed yet for the design of such displays. In this paper, we propose a method for designing head-mounted displays, and have developed four light-weight head-mounted stereoscopic full-color displays for remote operation. These displays are designed to give 3 D sensation with a sensation of reality. Two of them are very light weighted, and have wide angle of view, which are designed to teleoperate a mobile robot. The others have a link mechanism to support their weight, and have very fine resolution of view, which are designed so teleoperate a robot for fine manipulation tasks. Dynamic responses of a human operator using these displays are measured by tracking experiments. These results show which parameters of displays are related to dynamic performance. Such parameters are important factors for general design proceduer of head-mounted displays with good dynamic performance.抄録全体を表示PDF形式でダウンロード (9227K) -
土田 縫夫, 山田 陽滋, 今井 孝二1992 年 10 巻 5 号 p. 666-671
発行日: 1992/09/15
公開日: 2010/08/25
ジャーナル フリーIt is very effective for a high torque motor to make air gap as small as possible between a rotor and a stator. By polishing the surfaces of silindrical rotor and stator impregnated with epoxi resin, we developed a high torque motor of a VR type with extremely small air gaps which has no usual bearings. The rotor and stator with smooth surface play the role as a bearing.
Analising the geometry of air gaps by MAGNAFIM, magnetic field analising softwere, we were be able to develop a motor with higher output torque density than that on the market.抄録全体を表示PDF形式でダウンロード (3503K) -
岡田 徳次, 筒井 宏, 高野 英資1992 年 10 巻 5 号 p. 672-681
発行日: 1992/09/15
公開日: 2010/08/25
ジャーナル フリーThis paper proposes a sensor using liquid conductivity among electrodes in a non-conductive spherical vessel for measuring direction-of-action changing slowly. Since the sensor is attached to a moving object, conductive liquid sealed in the vessel moves through the electrodes freely, according to posture of the vessel. The liquid dipps with multiple electrodes standing at twelve points centripetally along the inner wall of the vessel so that the conductivity among the electrodes is changed. The change is detected to calculate the normal of the liquid surface. Thus, the direction-of-action from which the liquid moves is obtained. The measurement principle and experimental results of the sensor are shown. Also, electrode's shape is analysed to show the conductivity changes in the measurement, and electrode arrangement is considered to make measurement accuracy equal inn all directions. It is confirmed that the measurement accuracy is within 7.6° in all directions.抄録全体を表示PDF形式でダウンロード (4290K) -
新井 民夫, 邱 士軒, 斎木 啓, 大隅 久1992 年 10 巻 5 号 p. 682-688
発行日: 1992/09/15
公開日: 2010/08/25
ジャーナル フリーThe dynamics of a robot are highly non-linear. That it caused by the coupling torques between joints. These coupling torques result in disturbance. So the elimination of such disturbances has been one of the major problems in the robot control. On the contrary, in this paper, we propose to utilize the coupling torques for the control of the dynamics. For this purpose, we introduce a concept “dynamic redundant degrees of freedom”. It means parameters of the robot dynamic equation which can modify the dynamics task-independently. We control“dynamic redundant degrees of freedom”both to minimize joint torques in a least square sense and to keep the joint torques within their limits. The effectiveness of controlling “dynamic redundant degrees of freedom” is verified by both simulations and experiments.抄録全体を表示PDF形式でダウンロード (2230K) -
依田 光正, 塩田 泰仁1992 年 10 巻 5 号 p. 689-690
発行日: 1992/09/15
公開日: 2010/08/25
ジャーナル フリーAt present, it is hoped that a robot which works with human or for human will be developed for various social needs. The aim of this study is in the initial development of human intimate bobot that plays board game with human. This robot is thereby called GAME-ROBOT. Its configuration consists of image processings which are based on personal computer, mecahnical arm and original robot hand. We studied the integration of these parts, their functions and the applications through the execution of Othello game. As a result., GAME-ROBOT was able to play a friendly game with human.抄録全体を表示PDF形式でダウンロード (1711K)
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