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Volume 7, Issue 1
Displaying 1-18 of 18 articles from this issue
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Hiroyuki KANO, Kuniharu TAKAYAMA1989 Volume 7 Issue 1 Pages 3-10
Published: February 15, 1989
Released on J-STAGE: August 25, 2010
JOURNAL FREE ACCESSA method for optimal trajectry control of robotic manipulators is considered in this paper. In particular, a control scheme is proposed such that, while the manipulator passes prescribed two or more points, the resulting trajectory of motion is smooth. Such a problem is formulated by employing a criterion of minimum-mean-square acceleration during the entire period of motion. Although the motion of robot manipulators is governed by a system of second order differential equations which are highly nonlinear, it is shown that the control problem can be solved rigorously under such a criterion. The optimal control consists of nonlinear compensation terms and other linear feedback terms. The results of computer simulation studies for a 2-link manipulator are also included.View full abstractDownload PDF (905K) -
Yoji YAMADA, Koji YAMAMOTO, Nuio TSUCHIDA, Mataji KOMAI1989 Volume 7 Issue 1 Pages 11-18
Published: February 15, 1989
Released on J-STAGE: August 25, 2010
JOURNAL FREE ACCESSThis paper is on a spread spectrum transmission system for multiplexing a number of sensory signals in a robot to reduce the number of wires of the signls. In the proposed system, each transmitter and a receiver are connected in series and the multiplexed signal is synchronized in each circuit with the system clock by newly developed analog signal phase shift circuits. The time required to demodulate a transmitted signal by utilizing the developed transmission system in which 127-bit M-sequence code is used is reduced to be 3ms for the adoption of the unique synchronization tracking method. Furthermore, the S/I ratio of the system is evaluated to be 23. 5 dB. The developed system has characteristics of the short accessing time and an advantage that any number of new sensors, with transmitters, can be inserted in a desired position among the existing sensors. Therefore, the developed system can be applied to devices in which many sensory signals are to be accessed in real time. In the paper, we discuss the way how to track the synchronization circuit by circuit and we describe the structure of the system and the circuits used. Finally, the developed system is evaluated in terms of the S/I ratio.View full abstractDownload PDF (8599K) -
Masaru UCHIYAMA, Pierre DAUCHEZ1989 Volume 7 Issue 1 Pages 19-30
Published: February 15, 1989
Released on J-STAGE: August 25, 2010
JOURNAL FREE ACCESSTasks consisting of manipulating an object with two cooperating robots is studied from the standpoints of statics and kinematics; coordinates to describe those tasks are derived theoretically, on which forces, velocities and positions are defined consistently. Based upon those results, a hybrid position/force control scheme which distinguishes neither a master robot nor a slave robot, is presented for the coordination of the two robots. In the static and kinematic analysis, a concept of virtual stick is newly introduced, being used effectively to make the motions of the two robots to be considered at the center of the object. Thus, using the matrix pseudoinverse technique decouples the motions into the absolute and internal motions of the object. Generalized forces, velocities and positions are derived theoretically in those decoupled subspaces. Those forces, velocities and positions are symmetric functions of the jointspace forces, velocities and positions of the two robots. Therefore, the hybrid position/force control scheme using the workspace coordinates derived in this paper is capable of controlling independently either positions or forces on those coordinates without distinguishing a master robot nor a slave robot: tasks such as carrying an object with pushing or pulling it by two robots is realized in the framework of the non-master/slave scheme.View full abstractDownload PDF (2766K) -
Shigeo HIROSE, Kan YONEDA1989 Volume 7 Issue 1 Pages 31-38
Published: February 15, 1989
Released on J-STAGE: August 25, 2010
JOURNAL FREE ACCESSA new type of force sensor composed of a split type photo sensor, a light source and their supporting elastic frame is proposed. The structure of the sensor is simple. The segmental photo sensors detect the small displacement of the light source caused by the apllied force with high sensitivity. The amplifiers for the photo sensor can be small and built-in. Because of these characteristics, the force sensor can be designed more compact and light-weight than conventional force sensor using strain gauges. Force detecting experiments are made for the force sensor consists of quadri-segmental photo sensor, LED light source and cylinderical elastic frame and it is shown that the three-axes force can be measured with the accuracy of 0.4% of standard deviation even when the forces are applied simultaneously.View full abstractDownload PDF (3628K) -
Katsutoshi KURIBAYASHI1989 Volume 7 Issue 1 Pages 39-46
Published: February 15, 1989
Released on J-STAGE: August 25, 2010
JOURNAL FREE ACCESSThe ordinary control method, PWM ( : pulse width modulation) control method, of SMA ( : shape memory alloy) actuator has the basic defect, that is, the response of SMA actuator controlled by this method is very slow, because the maximum supplying voltage to SMA must be limited low in order to prevent SMA burning, considering its unknown temperature. In this paper, a new control method is proposed to improve the response of SMA actuator fast by limiting the temperature of SMA below the limited value instead of limiting the maximum supplying voltage to SMA. Therefore, this new control method allows us to use powerful drivers with high supplying voltage to SMA so as to make the heating speed of SMA fast. At first, a temperature sensor system to detect the SMA's temperature was made by solving several problems. Next, the experiments of the position control by a new SMA actuator system with temperature threshhold for SMA were carried out. Their results show that the responses are much faster than those by the ordinary control method. Besides, some conditions to improve the response of the new proposed SMA actuator further are gotten.View full abstractDownload PDF (2093K) -
(Control of one Degree-of-Freedom Manipulator)Masatoshi TOKITA, Toyokazu MITSUOKA, Toshio FUKUDA, Takashi KURIHARA1989 Volume 7 Issue 1 Pages 47-51
Published: February 15, 1989
Released on J-STAGE: August 25, 2010
JOURNAL FREE ACCESSIn this paper, a force control for manipulator which utilizes a neural network model is proposed with consideration of dynamics of objects. This proposed system consists of the standard PID controller and the perceptron-like neural model, which tunes a set of controller's parameters via a process of learning. The neural network model has not been applied to force control problems yet, but this proposed method is shown to be applicable to the force/compliance control problems. Stability of this system and wider applicability are verified by simulation studies.View full abstractDownload PDF (485K) -
Minoru HASHIMOTO1989 Volume 7 Issue 1 Pages 52-55
Published: February 15, 1989
Released on J-STAGE: August 25, 2010
JOURNAL FREE ACCESSIn the present paper we propose a joint torque sensing technique using elasticity of the harmonic drive. The technique is based on the constraction of the strain gauge bridges on the flexspline in harmonic drives, by which the modulation in the sensor output due to the wave generator rotation is eliminated. By utilizing the present technique, the torque exerted on robotic joints is measured very easily without spoiling stiffness of the robots.View full abstractDownload PDF (411K) -
Shigeo HIROSE, Akio MORISHIMA, Koichi NAGAI1989 Volume 7 Issue 1 Pages 56-61
Published: February 15, 1989
Released on J-STAGE: August 25, 2010
JOURNAL FREE ACCESSA mobile robot with brand new configuration, based on articulated body, is presented. The presented articulated body configuration can be considered as the basis of mobile robot, together with wheel, track and leg. The configuration is especially available for the mobile robot which have to move in narrow space and to carry heavy payload. The one third scale mechanical model KR-I, which consists of 6 segements, with 16 degrees of freedom 1391 mm in length and 27. 8 kg in weight is made. Specific characteristics of high adaptability to the irregular terrain and comparatively high speed mobility is experimentally demonstrated by the KR-I. Finally a basic consideration of the control of the articulated body mobile robot is done.View full abstractDownload PDF (6281K) -
—Proposition of Tension Differential Type Torque Sensor and Implementation to Torque Servo System—Makoto KANEKO, Kazuhito YOKOI, Natsuo SUZUKI, Kazuo TANIE1989 Volume 7 Issue 1 Pages 62-70
Published: February 15, 1989
Released on J-STAGE: August 25, 2010
JOURNAL FREE ACCESSConventional torque sensings of pulley-wire driving system have been executed by pressing tension sensor to the individual wire in both ends of pulley. As the corresponding torque signals in these apporaches have been acquired by feeding two tension signals to analog operational circuits and subtracting both signals, two tension sensors are always required per joint in principle. Furthermore, since bias forces which are proportion to wire tensions act on the sensor parts even when driving torque is not apllied to a pulley, such approaches have kept some disadvantages, such as residual stress, difficulty of extending dynamic range etc.. This paper first proposes the tension differential type torque sensor based on the idea that the torque around driving axis is proportion to the tension difference between both sides of pulley. The equivalent rotational stiffness, which is an important index when designing a torque servo system, is next introduced and the influences of sensor geometrical parameters and environment stiffness on loop gain of torque servo system are considered in assumption that the moment of inertia of arm is negligible.View full abstractDownload PDF (6059K) -
1989 Volume 7 Issue 1 Pages 70
Published: 1989
Released on J-STAGE: August 25, 2010
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[in Japanese]1989 Volume 7 Issue 1 Pages 71
Published: February 15, 1989
Released on J-STAGE: August 25, 2010
JOURNAL FREE ACCESSDownload PDF (115K) -
Yoji UMETANI1989 Volume 7 Issue 1 Pages 72-77
Published: February 15, 1989
Released on J-STAGE: August 25, 2010
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Yoshiaki OHKAMI1989 Volume 7 Issue 1 Pages 78-86
Published: February 15, 1989
Released on J-STAGE: August 25, 2010
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Kazuo MACHIDA1989 Volume 7 Issue 1 Pages 87-92
Published: February 15, 1989
Released on J-STAGE: August 25, 2010
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Kohtaro MATSUMOTO, Takashi UCHIYAMA1989 Volume 7 Issue 1 Pages 93-99
Published: February 15, 1989
Released on J-STAGE: August 25, 2010
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[in Japanese]1989 Volume 7 Issue 1 Pages 103
Published: February 15, 1989
Released on J-STAGE: August 25, 2010
JOURNAL FREE ACCESSDownload PDF (144K) -
[in Japanese]1989 Volume 7 Issue 1 Pages 104-105
Published: February 15, 1989
Released on J-STAGE: August 25, 2010
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[in Japanese]1989 Volume 7 Issue 1 Pages 106-107
Published: February 15, 1989
Released on J-STAGE: August 25, 2010
JOURNAL FREE ACCESSDownload PDF (4461K)
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