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Masaru UCHIYAMA, Michiya YOKOTA, Kyojiro HAKOMORI
1986 Volume 4 Issue 6 Pages
593-601
Published: December 15, 1986
Released on J-STAGE: August 25, 2010
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In this paper, we propose dynamic force sensing method for a robot manipulator. A 6-axis wrist force sensor which is commonly used for robot force sensing does not take the direct measurement of the force and moment applied to an end effector externally from the environment of the manipulator, but takes the measurement of the resultant of the gravity, the inertial force and moment on the end effector, and the external force and moment. The separation of the gravitational and inertial force and moment from the measurement of the force sensor is crucial to achieving dynamically accurate force sensing and fast manipulator motion under force feedback control. In this paper, we derive a mathematical model of the force sensing process and formulate the separation of the force and moment as a nonlinear optimal state estimation problem. Then we give an approximate solution to it using extended Kalman filtering techniques. We also show the effectiveness of the method through simulation and experiment for a limited case of manipulator motion.
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Fumio MATSUDA, Hiroshi MORIMOTO, Hideo KITAGAWA, Shuzou HATTORI, Minor ...
1986 Volume 4 Issue 6 Pages
602-606
Published: December 15, 1986
Released on J-STAGE: August 25, 2010
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The problem of slip detection has to be explored so that an industrial robot may grasp objects with the minimum grasping force. The method of nontactile slip detection is described in this paper. The intensity of reflected light from an object surface at the position of fringes of the phenomenon of two-beam interference is converted to digital data by using a photo transistor and an A/D converter. A micro computer can detect slip by calculating the auto correlation with the digital data converted from the light intensity. The fringe on the object is made from a lens and two laser beams which are converted from a laser beam by a grating.
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Yoshiro NISHIMOTO, Yoshiaki SHIRAI
1986 Volume 4 Issue 6 Pages
607-617
Published: December 15, 1986
Released on J-STAGE: August 25, 2010
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A feature-based stereo model designed to perform matching multi-resolution features is described. The multi-resolution features are zero-crossings (ZC's) of images convolved with different sized Laplacian-Gaussian operators. ZC's corresponding to small contrasts are removed according to gradient values of images convolved with Gaussian operators.
Candidate disparity intervals are determined using a disparity histogram of the total ZC's over the entire image. The image is then divided into small areas and a local disparity histogram is computed for the candidate intervals. Local disparity histograms in all resolution channels are searched for the most promising disparity for each area. If the disparity is found successfully, disparities for all ZC's in the area are determined by searching only the neighbor of the promising disparity. Once a disparity for a ZC is determined, the matching pair of ZC's are removed from a set of ZC's. This process is iterated until no more disparities are determined.
Experiments with sample scenes including objects with various shapes and brightnesses at different positions reveal that the model has advantages in efficiency and performance. Some discussions are also presented on the correspondence between the stereo model and the human binocular system.
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(Improvement of output performance by the introduction of a σ-mechanism)
Shigeo HIROSE, Koji IKUTA, Koichi SATO
1986 Volume 4 Issue 6 Pages
618-628
Published: December 15, 1986
Released on J-STAGE: August 25, 2010
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The shape memory effect is based on a peculiar principle named Thermal Elastic Martensitic Transformation, and it shows a kind of elastic behavior. As a results, the conventional type shape memory alloy (SMA) actuator using circular pulley exhibits an undesirable characteristics, namely the dependence of the maximum output torque to the deformation of SMA or the angular displacement. This characteristics limits motion range of the SMA actuator and an amount of torque to be produced.
The paper firstly clarifies above mentioned problem which the SMA intrinsically possesses and then proposes a new joint mechanism for articulated link structure named “σ-mechanism”. The σ-mechanism is to decrease the moment arm according as the amount of the traction force of SMA increases by using non circular shaped pulley. The detailed algorithm to design the proposed σ-mechanism is then discussed. The validity of the proposed σ-mechanism is experimentally demon-strated by driving experiments of the SMA actuator model.
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Yuichi CHIDA, Yasuhiko KAKU, Tsutomu MITA
1986 Volume 4 Issue 6 Pages
629-633
Published: December 15, 1986
Released on J-STAGE: August 25, 2010
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In the control of robot arm, it is nesessary to control the trajectory of its tip as well as the force which is applied from the surrounding environment. However, there are many situations where the dynamics of the environment is not well known. In such cases, we can apply the adaptive control to this force control.
In this paper, we firstly propose several construction methods of adaptive force control systems, and compare the system structures. Further, using the above results, we propose a new method of force and trajectory control of the robot arm. The effect of the proposed control scheme is also shown by simulation, and we have gotten satisfactory results.
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Toshihiro TSUMURA, Naofumi FUJIWARA, Masafumi HASHIMOTO, Teng TANG
1986 Volume 4 Issue 6 Pages
634-638
Published: December 15, 1986
Released on J-STAGE: August 25, 2010
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This paper describes a new method to pursue a vehicle travelling on three-dimensional space using laser fan-plane projected from a laser beacon set on a reference point. In order to demonstrate the method an experimental system is made up and used for pursuing a vehicle. Results of the experiment show that the proposed method is effective to pursue a vehicle near the reference point.
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[in Japanese]
1986 Volume 4 Issue 6 Pages
639
Published: December 15, 1986
Released on J-STAGE: August 25, 2010
JOURNAL
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[in Japanese]
1986 Volume 4 Issue 6 Pages
640
Published: December 15, 1986
Released on J-STAGE: August 25, 2010
JOURNAL
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[in Japanese]
1986 Volume 4 Issue 6 Pages
641
Published: December 15, 1986
Released on J-STAGE: August 25, 2010
JOURNAL
FREE ACCESS
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[in Japanese]
1986 Volume 4 Issue 6 Pages
642
Published: December 15, 1986
Released on J-STAGE: August 25, 2010
JOURNAL
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[in Japanese]
1986 Volume 4 Issue 6 Pages
643
Published: December 15, 1986
Released on J-STAGE: August 25, 2010
JOURNAL
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[in Japanese], [in Japanese]
1986 Volume 4 Issue 6 Pages
644
Published: December 15, 1986
Released on J-STAGE: August 25, 2010
JOURNAL
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[in Japanese]
1986 Volume 4 Issue 6 Pages
645
Published: December 15, 1986
Released on J-STAGE: August 25, 2010
JOURNAL
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[in Japanese]
1986 Volume 4 Issue 6 Pages
646
Published: December 15, 1986
Released on J-STAGE: December 09, 2010
JOURNAL
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[in Japanese]
1986 Volume 4 Issue 6 Pages
647
Published: December 15, 1986
Released on J-STAGE: August 25, 2010
JOURNAL
FREE ACCESS
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[in Japanese]
1986 Volume 4 Issue 6 Pages
648
Published: December 15, 1986
Released on J-STAGE: August 25, 2010
JOURNAL
FREE ACCESS
-
[in Japanese]
1986 Volume 4 Issue 6 Pages
649
Published: December 15, 1986
Released on J-STAGE: August 25, 2010
JOURNAL
FREE ACCESS
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[in Japanese]
1986 Volume 4 Issue 6 Pages
650
Published: December 15, 1986
Released on J-STAGE: August 25, 2010
JOURNAL
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Ichiro KIMURA, Jutaroh TADANO
1986 Volume 4 Issue 6 Pages
651-654
Published: December 15, 1986
Released on J-STAGE: August 25, 2010
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Koji YADA, Kenji OKAMOTO
1986 Volume 4 Issue 6 Pages
655-656
Published: December 15, 1986
Released on J-STAGE: August 25, 2010
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Shin'ichi YUTA
1986 Volume 4 Issue 6 Pages
657-658
Published: December 15, 1986
Released on J-STAGE: August 25, 2010
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Hirofumi MIURA
1986 Volume 4 Issue 6 Pages
659-660
Published: December 15, 1986
Released on J-STAGE: August 25, 2010
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Makoto KAJITANI
1986 Volume 4 Issue 6 Pages
661-664
Published: December 15, 1986
Released on J-STAGE: August 25, 2010
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Masanao TODA
1986 Volume 4 Issue 6 Pages
665-669
Published: December 15, 1986
Released on J-STAGE: August 25, 2010
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Ryozo KATOH, Tadashi YAMASHITA
1986 Volume 4 Issue 6 Pages
670-674
Published: December 15, 1986
Released on J-STAGE: August 25, 2010
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Yasuyoshi KUBA, Mitsuo WADA
1986 Volume 4 Issue 6 Pages
675-678
Published: December 15, 1986
Released on J-STAGE: August 25, 2010
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Shigeoki HIRAI, Tomomasa SATO
1986 Volume 4 Issue 6 Pages
679-682
Published: December 15, 1986
Released on J-STAGE: August 25, 2010
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Kageo NORO
1986 Volume 4 Issue 6 Pages
686
Published: December 15, 1986
Released on J-STAGE: August 25, 2010
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