In this paper, an omni-directional mobile platform for high-place work robot is developed and movability is demonstrated in barrier-free environment. The newly coined term: high-place work means the high-place work where the height is within few meters and usually done with a ladder and stepladder. Generally, the machines which is used for the high-place work (like a mobile lift) have to have heavy base body and big footprint by outriggers for stability. An inverted pendulum balance controlled mobile platform is alternatively used to develop the robot which has a small footprint and high COG (center of gravity). The inverted pendulum type high COG robot needs to have omni-directional movability to keep balance in a three-dimensional world, not like a parallel two wheel type inverted pendulum robot, which has only the fore-aft directional dynamical stability. The proposed omni-directional inverted pendulum mobile platform is developed by adding omni-directional movability to an parallel two wheel type mobile platform like Segway. The additional omni-directional movability is implemented by substituting the tires by drive units which are constructed of combination of mecanum wheels and/or omni-wheels. The control system is also extended to integrate the additional lateral motion into the parallel two wheel inverted pendulum control with the intuitional maneuvering system. As the first step toward the high-place work robot, the various test driving in a barrier-free environment are done to show the movability of the mobile platform in real environment. The vehicle was able to move on a low step, over a small ditch, through a narrow corner, and over gentle slope; block pavement; braille blocks; threshold sill; and grating covers.
This paper proposes a novel method for assembling a ring-shaped elastic part to a cylinders’ outer groove by using an industrial robot. To assemble a ring-shaped elastic part, forces acting on an elastic part should be made as small as possible. In our proposed method, while the force control strategy itself is determined based on the human characteristics, the parameters of the controller is determined by using a numerical optimization. First, the position data and the force data while a human demonstrates the assembly are measured. Then they are qualitatively analyzed and two control methods are derived. However, we do not obtain the parameters of the force control from the human data. This is because the performance, for example the response characteristics, of robots is different from that of human and the parameters obtained from human data are not necessarily suitable for robots. Thus we obtain the parameters by an optimization with the downhill simplex method which is feasible for an optimization based on actual machine. To confirm that the applied force is significantly reduced, we conduct experiment and compare two force control methods.
For the Improvement of the Efficiency of the River Facility Inspection, we have been developing the float robot. In prototype model of the float robot, developed in 2015, we succeeded in detecting 0.1[m] topographic changes of the river bed by using 3D point data, acquired from Multi-Beam echo sounder and 0.5[mm] width clacks on the river bank protection by using moving picture, acquired from HDTV camera. But in prototype model, the power of the transmission system is not enough for being used under the condition in 1.0[m/s] of running water. Therefore, in 2016, we improved the power transmission system and simplify the structure of the floating robot, to be used for the running water. With these improvements, we achieved the stable measurement for the river bed and river bank protection under the condition in running water and the acquisition for the high quality 3D point data and moving picture, and the reduction of the working hour for production.