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[in Japanese]
1993 Volume 11 Issue 1 Pages
1
Published: January 15, 1993
Released on J-STAGE: August 25, 2010
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Yoji UMETANI
1993 Volume 11 Issue 1 Pages
2-6
Published: January 15, 1993
Released on J-STAGE: August 25, 2010
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Kanji YONEMOTO
1993 Volume 11 Issue 1 Pages
7-13
Published: January 15, 1993
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Haruhiko ASADA, Akihira NISHIKAWA
1993 Volume 11 Issue 1 Pages
14-19
Published: January 15, 1993
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Katsushi IKEUCHI, Yoichi SATO
1993 Volume 11 Issue 1 Pages
20-25
Published: January 15, 1993
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Koichi SUGIMOTO
1993 Volume 11 Issue 1 Pages
26-30
Published: January 15, 1993
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Takeo OOMICHI, Naoto KAWAUCHI, Taku SASAKI
1993 Volume 11 Issue 1 Pages
31-35
Published: January 15, 1993
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Akihiro MATSUMOTO, Tamio ARAI
1993 Volume 11 Issue 1 Pages
36-39
Published: January 15, 1993
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Tetsuro YABUTA, Shin-ichi AOSHIMA
1993 Volume 11 Issue 1 Pages
40-43
Published: January 15, 1993
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Norio BABA, Seiichi OZAWA
1993 Volume 11 Issue 1 Pages
44-48
Published: January 15, 1993
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Kimiharu SATO
1993 Volume 11 Issue 1 Pages
49-52
Published: January 15, 1993
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Natsuo KINOSHITA
1993 Volume 11 Issue 1 Pages
53-57
Published: January 15, 1993
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Sakiichi OKABE, Yoshitsugu KAMIYA
1993 Volume 11 Issue 1 Pages
58-61
Published: January 15, 1993
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Ryoichi NAKAYAMA
1993 Volume 11 Issue 1 Pages
62-66
Published: January 15, 1993
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Yukio HASEGAWA
1993 Volume 11 Issue 1 Pages
67-70
Published: January 15, 1993
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Kazuhiko KAWAMURA
1993 Volume 11 Issue 1 Pages
71-75
Published: January 15, 1993
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—Focused on IMS Program—
Kunikatsu TAKASE
1993 Volume 11 Issue 1 Pages
76-80
Published: January 15, 1993
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[in Japanese]
1993 Volume 11 Issue 1 Pages
87
Published: January 15, 1993
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Eiji NAKANO, Masashi TSUCHIYA
1993 Volume 11 Issue 1 Pages
91-99
Published: January 15, 1993
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The purpose of this research is for the control of the rotational maneuvers of a robot in midair. The methods of rotational maneuvers divide into 2 groups. One group uses nonzero initial angular momentum, and the other group uses zero angular momentum. In this paper the authors confirm experimentally that a robot can turn over with zero angular momentum without any external forces. And the control method of the rotational maneuvers of a jumping robot in midair is discussed. Rotational maneuvers are made up by a change of the inertia moment of the robot about the axis of the center of gravity. The authors also propose a way to calculate joint trajectories of the robot approximately by giving the initial and the final value of its configuration angles and joint variables.
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Haruhisa KAWASAKI, Kazuo KANZAKI
1993 Volume 11 Issue 1 Pages
100-110
Published: January 15, 1993
Released on J-STAGE: December 09, 2010
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This article presents a method to determine the minimum set of dynamics parameters of manipulators. It is based on a new concept ’τ
i (i-th joint torque) -identifiablity’ to classify the dynamics parameters. The method permits the determination of all the minimum dynamics parameters which can be used directly to the Newton-Euler Formulations. It also presents an algorithm for efficient computation of inverse dynamics of manipulators using the minimum set. The computational efficiency of the Algorithm is compared with other published methods.
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Kiyoshi NAGAI, Tsuneo YOSHIKAWA
1993 Volume 11 Issue 1 Pages
111-120
Published: January 15, 1993
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The purpose of this paper is to propose a new method of the adaptive grasping for multifingered hands with the constraints of static friction and the joint torques, under the repeated manipulation tasks. First, the manipulating and grasping forces of two fingered hands and the dynamic manipulation/grasping controller based on these forces, which have been proposed by authors, are introduced. This controller makes it possible to be given the desired grasp parameter which determine the grasping force, in spite of the desired trajectory of the object. Second, the scalar functions for evaluation of the manipulation and the grasping are defined, and the effects on them by the given grasp parameter are shown. Then, a new algorithm of the adaptive grasping based on these functions is proposed. This algorithm realizes the desired manipulation without slip of the fingertips, adjusting the grasp parameter to the specified manipulation task. Finally, the effectiveness of the proposed method is shown by several experiments.
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Kazuhito YOKOI, Hitoshi MAEKAWA, Kazuo TANIE
1993 Volume 11 Issue 1 Pages
121-130
Published: January 15, 1993
Released on J-STAGE: August 25, 2010
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A method of compliance control for a redundant robotic arm was proposed. The method is constructed by combining two different compliance control scheme ; the fundamental compliance control in the joint space and the adjusting compliance control in operational space. One of the features of the proposed method is to achieve both the desired compliance condition in the operational space and the unique determination of the redundant manipulator configuration. Another feature of it is that the inverse kinematic solution of the redundant manipulator was obtained according only to fundamental compliance parameters. -Also, how to control the trajectory of the end-effector was intro-duced. The inverse kinematics solution is similar to be obtained from the pseudo-inverse Jacobian matrix with a weight matrix. However, it has a different benefit benefit from the pseud-inverse approach, because it provides a function of adjusting the end-effector compliance as well as the inverse kinematics solution. Through experiments using a manufactured four d. o. f. robotic arm with redundancy, the effectiveness of the method was confirmed.
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Toshiyuki MURAKAMI, Kouhei OHNISHI
1993 Volume 11 Issue 1 Pages
131-139
Published: January 15, 1993
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The paper describes an identification method of the dynamics of robot. In the proposed method, two observers are constructed in the joint space. One is used to realize the robust motion controller which is unsensitive against the disturbance torque. The other is used to estimate the dynamics of robot. First, the disturbance observer is introduced from the physical point of view. Then the disturbance torque is also defined from the dynamic model derived from the Euler-Lagrange equations and the model of motor. Secondly, the identification method of the robot dynamics is explained.
Several numerical and experimental results are shown to confirm the validity of the dynamic model established by the proposed method. The paper also shows the feasibility of the estimation of reaction torque by using the established dynamic model and the disturbance observer.
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Tsuneo YOSHIKAWA, Koh HOSODA, Toshitsugu DOI
1993 Volume 11 Issue 1 Pages
140-147
Published: January 15, 1993
Released on J-STAGE: August 25, 2010
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In this paper, a macro-micro manipulator system is proposed to realize the trajectory tracking control of a flexible manipulator system. This system has a flexible manipulator as a macro part and a rigid small manipulator on macro's tip as a micro part. A flexible manipulator can move in wide range of space while can not realize precise tracking purpose. The micro manipulator is then used to compensate the tracking eror due to the deformation of the macro manipulator. First, the concepts of compensatability and compensatability measure for the macro-micro manipulator system are introduced. Second, considering the redundancy of the system, path planning is discussed to keep the compensatability measure as large as possible during the whole work phase. Then, a quasi-static trajectory tracking control system is proposed to realize the planned path. Simulation results show the effectiveness of the proposed method.
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Yoshikuni OKAWA, Ken YOKOYAMA
1993 Volume 11 Issue 1 Pages
148-155
Published: January 15, 1993
Released on J-STAGE: August 25, 2010
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We propose a method to make a mobile robot push a box from one place to another. First, we defined the circumferential conditions and derived the equations of motion for a robot and a pushed object. The validity of the proposed dynamic equations have been proved by the experiments. We adopt the simplest goal seeking strategy for robot's motor control. The objective of control is to direct a pushed object toward the goal point. Using a spline curve the robot tries to carry the box toward the goal. Many experiments have been done, which proved the feasibility of our proposals.
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Mamoru MINAMI, Naofumi FUJIWARA, Hiroshi TSUGE
1993 Volume 11 Issue 1 Pages
156-164
Published: January 15, 1993
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This report proposes a method for controlling the position and orientation of a manipulator mounted on an autonomous mobile robot. Experimental results show that the end effector of the manipulator can be maintained in a desired position and orientation. Thus, in practical use, materials can be transferred while the robot is moving, which will contribute to revolutional enhancement of material handling efficiency.
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Fumio KASAGAMI, Takakazu ISHIMATSU, Masashige FUJITA
1993 Volume 11 Issue 1 Pages
165-170
Published: January 15, 1993
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It is well known that by introducing coordinated motions of an arc welding robot and a positioning table, most desirable arc welding performance could be obtained. The reason is that the coordinated motions enabled the welding torch and the workpiece to have desirable configurations considering effects of the gravity. In order to realize coordinated motions, a high accuracy of the robot is required. Therefore, force sensors and vision sensors to compensate mechanical errors are often introduced.
In this paper we describe a system to realize coordinated motions by employing a teaching-playback robot. Due to the feature of teaching-playback robots that mechanical errors are readily compensated by the operator during the teaching task, satisfactory coordinated motions could be realized without using any additional sensors. Furthermore, a teaching method to specify coordinated motion is described. By using this teaching method, teaching tasks of coordinated motions could be performed effectively. Experimental results reveal the applicability of our robot system to the arc welding tasks.
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