Journal of the Robotics Society of Japan
Online ISSN : 1884-7145
Print ISSN : 0289-1824
ISSN-L : 0289-1824
Volume 2, Issue 5
Displaying 1-16 of 16 articles from this issue
  • Hironori KASAHARA, Seinosuke NARITA
    1984 Volume 2 Issue 5 Pages 387-401
    Published: October 30, 1984
    Released on J-STAGE: August 25, 2010
    JOURNAL FREE ACCESS
    This paper presents a practical general-purpose parallel processing scheme for control computation of robots. By using a plurality of inexpensive microprocessors in place of expensive mini- or supermini-computers, the proposed parallel processing scheme facilitates complicated real-time calculations involved in the kinematic or dynamic control of robot arms with/without redundant degrees of freedom. It also has advantageous features such as improved cost-performance ratio, responsiveness and portability of robot controllers.
    In order to make full use of those advantageous features, the most important issue is to develop an efficient parallel processing scheme which defines the way to decompose the entire set of control calculations into smaller units (tasks) and to schedule the tasks onto the processors.
    However, the scheduling for robot control parallel calculations is one of the most intractable optimizing problems (“strong”NP-hard) . Therefore the conventional parallel processing methods can only solve an extremely simplified version of the original scheduling problem, and any minimum parallel processing time can not be attained.
    The proposed parallel processing scheme resolves the above-mentioned scheduling problem by using the multiprocessor scheduling algorithm DF/IHS (Depth First/Implicit Heuristic Search) . Namely, it is a powerful vehicle which allows us to process, in minimum time, an arbitrary set of control equations for various types of robot on a MIMD (Multiple-Instruction-stream Multiple-Data-stream) multiprocessor system with arbitrary hardware configuration (the number of parallel processors, interprocessor communication scheme, etc.)
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  • Yutaka KANAYAMA, Shin-ichi YUTA, Masayuki TAKATA, Jun-ichi IIJIMA
    1984 Volume 2 Issue 5 Pages 402-416
    Published: October 30, 1984
    Released on J-STAGE: December 09, 2010
    JOURNAL FREE ACCESS
    This Paper describes the locomotion module of a self-contained robot Yamabico 9. Modularization is very important concept in constructing intelligent robots, as is in constructing computer systems. Yamabico 9 has such a modular architecture in hardware as well as in software.
    The locomotion module (LM) is an independent micro-computer system with ROM, RAM, two timers, motors, motor drivers, and encoders which controls the power wheeled steering cart. It works as a slave of the brain (BR), the central processing unit of the robot.
    A command system is defined as an interface between LM and BR which consists of the set of commands from BR to LM specifying motion of LM and the set of replies from LM to BR telling BR internal information and timing of LM. A motion command controls velocity of the both wheels of LM so that LM draws desired loci and terminates its execution when the termination condition in the command is satisfied.
    The software of LM consists of the followings : (1) locomation control process, (2) motor servo process, and (3) communication control process. The first and second processes are called every five millisecond, and the last process works asynchronouly with the other ones bacause needs of communication occur at random time instances. The locomotion control process calculates reference velocities of two wheels, and tests the terminating conditions.
    This paper also gives some results of real experiments and examples of LM programming.
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  • Heng-Li Guo, Masahiko YACHIDA, Saburo TSUJI
    1984 Volume 2 Issue 5 Pages 417-424
    Published: October 30, 1984
    Released on J-STAGE: August 25, 2010
    JOURNAL FREE ACCESS
    We had reported a method which uses shadow information with one point light source, to measure the 3-D position of wire tips. However, a disadvantage of this method is that it cannot determine the pair, the image of the tips and the corresponding shadow of this tips, when the lens focus, the point light source and more than one tip are in the same plane. Therefore, it was difficult to measure the 3-D position of terminals in some cases. In order to measure the 3-D position of many line-like objects, a new vision system which use two point light sources has been developed. An algorithm that uniquely determines the corresponding pair of terminals is also developed. Therefore we obtain a general method to measure the 3-D position of wire tips. The accuracy of measurement is also improved, because the 3-D position of the terminals is calculated by the cross-point of three lines.
    According to the corresponding pairs of the terminals, we determine the corresponding pairs of the line. Based on the fact that the corresponding image pair of the points on the line and the image of the point light source are collinear, we can calculate the 3-D position of any point on the line, and then the orientation of the line.
    Finally, the experimental results are shown.
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  • [in Japanese]
    1984 Volume 2 Issue 5 Pages 425
    Published: October 30, 1984
    Released on J-STAGE: August 25, 2010
    JOURNAL FREE ACCESS
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  • Kensuke HASEGAWA
    1984 Volume 2 Issue 5 Pages 426-429
    Published: October 30, 1984
    Released on J-STAGE: August 25, 2010
    JOURNAL FREE ACCESS
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  • Gen-ichiro KINOSHITA
    1984 Volume 2 Issue 5 Pages 430-437
    Published: October 30, 1984
    Released on J-STAGE: August 25, 2010
    JOURNAL FREE ACCESS
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  • Yoshiaki IWAMURA
    1984 Volume 2 Issue 5 Pages 438-444
    Published: October 30, 1984
    Released on J-STAGE: December 09, 2010
    JOURNAL FREE ACCESS
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  • Yutaka SHIMIZU
    1984 Volume 2 Issue 5 Pages 445-450
    Published: October 30, 1984
    Released on J-STAGE: August 25, 2010
    JOURNAL FREE ACCESS
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  • Kaoru NAKANO
    1984 Volume 2 Issue 5 Pages 451-456
    Published: October 30, 1984
    Released on J-STAGE: August 25, 2010
    JOURNAL FREE ACCESS
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  • Ryosuke MASUDA
    1984 Volume 2 Issue 5 Pages 457-461
    Published: October 30, 1984
    Released on J-STAGE: August 25, 2010
    JOURNAL FREE ACCESS
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  • Kazuo ASAKAWA
    1984 Volume 2 Issue 5 Pages 462-466
    Published: October 30, 1984
    Released on J-STAGE: August 25, 2010
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  • Hiroaki OZAKI, Akira MOHRI
    1984 Volume 2 Issue 5 Pages 467-471
    Published: October 30, 1984
    Released on J-STAGE: August 25, 2010
    JOURNAL FREE ACCESS
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  • Seido KODA
    1984 Volume 2 Issue 5 Pages 472-475
    Published: October 30, 1984
    Released on J-STAGE: August 25, 2010
    JOURNAL FREE ACCESS
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  • Hideo SAKATA
    1984 Volume 2 Issue 5 Pages 476-477
    Published: October 30, 1984
    Released on J-STAGE: August 25, 2010
    JOURNAL FREE ACCESS
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  • Hiroo YAMASAKI
    1984 Volume 2 Issue 5 Pages 478-479
    Published: October 30, 1984
    Released on J-STAGE: August 25, 2010
    JOURNAL FREE ACCESS
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  • Suguru ARIMOTO
    1984 Volume 2 Issue 5 Pages 480-486
    Published: October 30, 1984
    Released on J-STAGE: August 25, 2010
    JOURNAL FREE ACCESS
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