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Volume 6 (1988)
- Issue 6 Pages 471-
- Issue 5 Pages 367-
- Issue 4 Pages 271-
- Issue 3 Pages 175-
- Issue 2 Pages 91-
- Issue 1 Pages 3-
Volume 6, Issue 2
Displaying 1-13 of 13 articles from this issue
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Toshio FUKUDA, Naoyuki KITAMURA, Kazuo TANIE1988 Volume 6 Issue 2 Pages 91-100
Published: April 15, 1988
Released on J-STAGE: August 25, 2010
JOURNAL FREE ACCESSIn this paper, a method of adaptive hybrid force control is proposed to deal with position and force of robotic manipulator simultaniously with consideration of dynamics of an object, and is applied to grasping control by a gripper. The position input-output control system is still employed in most of present robots including industral robots. However, by this position input-output control system, it is difficult to satisfy complicated and versatile control demands required for the robots, which need more flexible works with force interactions between objects and robots. The adaptive hybrid force control here is to use the position for securing position control functions and at the same time, to adjust the position adaptively by monitoring force and/or torque in the vein of the model reference adaptive system. This paper shows the algorithm of such a adaptive method with consideration of dynamics of objects and the effectiveness of the method through simulations and experiments.View full abstractDownload PDF (4149K) -
Shigeo HIROSE, Souichi INOUE, Kan YONEDA1988 Volume 6 Issue 2 Pages 101-108
Published: April 15, 1988
Released on J-STAGE: August 25, 2010
JOURNAL FREE ACCESSThe paper firstly proposes a new type of proximity sensor named “whisker sensor”, consisting of elastic whisker and its bulb mechanism. The bulb mechanism contains sensing device to detect the minute bending of the whisker when it touches an object. As to the material of the whisker, it is shown by an experiment that TiNi shape memory alloy with psudo-elasticity is suitable. As to the signal detection method at the bulb, both single bit type and analogue type signal detector is shown realizable. The single bit type whisker sensor can be built up in a small size with simple and solid mechanism. Thus it is very cheap and can be installed around robot as many as possible. It also has the feature to be used in hostile environments. The analogue type whisker sensor using photo-interrupter for the bulb sensor is experimentally made and shown its capability to detect the distance with some acurracy.
The paper secondly points out the importance to install multiple tactile or proximity sensors around robot system just as insects or mammals. The problem to minimize the number of the signal transmission wires is then shown crucial. To cope with this problem, the paper proposes two type of methods, namely ladder connection and local preprocessing. The validity of these methods are verified by two experiments including the off-road walking experiment using the quadruped walking vehicle model TITAN III.View full abstractDownload PDF (7805K) -
Hirofumi SAGAWA, Minoru HASHIMOTO, Kimiko SATO1988 Volume 6 Issue 2 Pages 109-116
Published: April 15, 1988
Released on J-STAGE: August 25, 2010
JOURNAL FREE ACCESSIn the present paper we propose a control technique of stiffness for the actuator in which shape memory alloys (SMA's) are used. The actuator was made by a pair of SMA wires with rivalry. The wires are heated directly by an electric current. The static model of the actuator is suggested and then it is found from the model that the stiffness can be controlled by the sum of amounts of currents of the wires. The validity of the control method was verified by the experiment. A position control scheme with keeping command stiffness also will be proposed in this paper.View full abstractDownload PDF (3974K) -
Koichi OSUKA, Toshiro ONO1988 Volume 6 Issue 2 Pages 117-124
Published: April 15, 1988
Released on J-STAGE: August 25, 2010
JOURNAL FREE ACCESSThis paper is concerned with a robust model following controller for manipulators in the task oriented space.
The most basic and important scheme for model following control of a manipulator in the task oriented space is Resolved-Acceleration Control Method (Nonlinear compensation method) . In practice, it is very important to consider the robustness of the controller.
It is well known that the Artificial-Potential method and Sliding-Mode-Control method have a nature of robustness. But, it is a problem that the former method is suited for only “point-to-point control”. On the other hand, the main drawback of the latter approach is that the resulting control function is discontinuous and, consequently, the mechanical vibration might be caused by the control input.
In this paper, we apply the robust model following control scheme proposed by the authors before which has a continues control law to the trajectory tracking problem of a manipulator in the task oriented space. The design method is based on the Liapunov's second method.View full abstractDownload PDF (2244K) -
[in Japanese]1988 Volume 6 Issue 2 Pages 125
Published: April 15, 1988
Released on J-STAGE: August 25, 2010
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Suguru ARIMOTO1988 Volume 6 Issue 2 Pages 126-129
Published: April 15, 1988
Released on J-STAGE: August 25, 2010
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Fumihiko KIMURA1988 Volume 6 Issue 2 Pages 130-135
Published: April 15, 1988
Released on J-STAGE: August 25, 2010
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Akira OKANO, Taketoshi YOSHIDA1988 Volume 6 Issue 2 Pages 136-141
Published: April 15, 1988
Released on J-STAGE: August 25, 2010
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Shigeyuki SAKANE1988 Volume 6 Issue 2 Pages 142-146
Published: April 15, 1988
Released on J-STAGE: August 25, 2010
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Kazuto SETO1988 Volume 6 Issue 2 Pages 147-152
Published: April 15, 1988
Released on J-STAGE: August 25, 2010
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Tadashi KUROIWA1988 Volume 6 Issue 2 Pages 153-159
Published: April 15, 1988
Released on J-STAGE: August 25, 2010
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Kiyoshi IOI, Kenji ITOH1988 Volume 6 Issue 2 Pages 160-168
Published: April 15, 1988
Released on J-STAGE: August 25, 2010
JOURNAL FREE ACCESSIn recent years, applications of articulated manipulators have been enlarged to ultimate environment such as underwater and space.
Simulation system for design and control of industrial manipulators has been developed in many laboratories, and some high-speed method of calculation of inverse dynamics of serial manipulators has been proposed.
This paper is concerned with dynamic simulation and modeling of underwater articulated manipulators.
Dynamics of these manipulators is formulated to evaluate influence of added mass tensor, added inertia tensor, drag and lift of each arm according to classical Newton-Euler mechanics.
Moreover, by generalizing this model, we can discuss the dynamics of a manipulator with dual arm and can simulate some constrained motion of end-effector.
As an example of inverse dynamics, force and moment of a 9 d. o. f. manipulator with dual arm are analized
As an example of direct dynamics, hybrid-control of both force and position of a 6 d. o. f. manipulator is simulated.View full abstractDownload PDF (3826K) -
Shigeyuki SAKANE1988 Volume 6 Issue 2 Pages 172
Published: April 15, 1988
Released on J-STAGE: August 25, 2010
JOURNAL FREE ACCESSDownload PDF (150K)
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