Journal of the Robotics Society of Japan

Online ISSN : 1884-7145
Print ISSN : 0289-1824
ISSN-L : 0289-1824

Browse

Search
Browse

All issues

Volume 8, Issue 3

Displaying 1-47 of 47 articles from this issue

Download citation

Show all abstracts

Motion Control of Robot Manipulators by Joint Acceleration Controllers

Satoshi KOMADA, Kouhei OHNISHI

1990 Volume 8 Issue 3 Pages 141-280
Published: June 15, 1990
Released on J-STAGE: August 25, 2010

DOIhttps://doi.org/10.7210/jrsj.8.3_141

JOURNAL FREE ACCESS

Show abstractHide abstract

This paper proposes a simple and high performance motion control method of robot manipulators in task-oriented coordinates. In the proposed method, it is necessary that each joint generates the specified acceleration by the controller of each joint. To extend the result to multi-degrees-of-freedom robot manipulators, the acceleration tracing orientation method (ATOM) is obtained. The ATOM is a controller design method in task-oriented coordinates. High performance position controller and hybrid position/force controller are easily realized by the ATOM. From the analyses of the controllers, it is known that the precise acceleration controller is the key to improve the performance of the ATOM. The realization of the strict acceleration controller, however, is almost impossible by using the conventional disturbance compensation methods. For example, the inverse dynamics has complicating calculation and is weak against parameter variations. A resent research about disturbance observer enables the realization of the acceleration controller. Contrary to the inverse dynamics, the observer is simple and robust against parameter variations. High performance acceleration controller is realized by the disturbance observer. The effectivness of the ATOM is shown by some experiments of a three-degrees-of-freedom robot.

View full abstract

Download PDF (963K)
Impedance Controlled Master Slave Manipulation System Part I

Basic Concept and Application to the System with Time Delay

Susumu TACHI, Taisuke SAKAKI

1990 Volume 8 Issue 3 Pages 241-252
Published: June 15, 1990
Released on J-STAGE: August 25, 2010

DOIhttps://doi.org/10.7210/jrsj.8.3_241

JOURNAL FREE ACCESS

Show abstractHide abstract

This research is concerned with master slave manipulation. A new master slave system in teleexistence mode, i. e., impedance controlled master slave system, is presented. Impedance control of the manipulators is applied to this system. The system regulates the impedances of the master and the slave so that they coincide, and it generates the impedance models of the environment. Four basic control methods are proposed as the extension of conventional bilateral systems and it is shown that most of them can be transformed to each other by calculating force information even with less force information. They are also applied to the system with time delay. These methods are verified in the experiments with a two degrees of freedom direct drive manipulator.

View full abstract

Download PDF (1435K)
Impedance Controlled Master Slave Manipulation System Part II

Modification of Force Sensation and Extension of Operation Capability

Taisuke SAKAKI, Susumu TACHI

1990 Volume 8 Issue 3 Pages 253-264
Published: June 15, 1990
Released on J-STAGE: August 25, 2010

DOIhttps://doi.org/10.7210/jrsj.8.3_253

JOURNAL FREE ACCESS

Show abstractHide abstract

This research is concerned with master slave manipulation. A new master slave system in teleexistence mode, i. e., the basic part of impedance controlled master slave system, has been presented in the part I. In the part II, the system is expanded so that it controls both impedance models of the environment and the manipulators, and modifies the force sensation of the master and slave manipulators as if an operator were in the different physical environment, and the impedances of the master and slave manipulators are determined by using similarity transformation in physical modelling when the manipulators have different scales, force and/or velocity conditions. These methods are verified in the experiments with the two degrees of freedom direct drive manipulator.

View full abstract

Download PDF (3238K)
Development of Cooperative Trajectory Control System for Two Robots on Sensory Data

Yasushi IKEI, Hiroshi YOKOI, Yoshikuni OKAWA

1990 Volume 8 Issue 3 Pages 265-272
Published: June 15, 1990
Released on J-STAGE: August 25, 2010

DOIhttps://doi.org/10.7210/jrsj.8.3_265

JOURNAL FREE ACCESS

Show abstractHide abstract

This paper describes a basic design of cooperative control system for multiple robot arms. In the system two robot arms and a vision sub-system have their own node controllers connected by a computer network. Cooperative control software developed is embedded in each node controller. Node software is written by object oriented programming technique. System model is constructed as a basis to represent and interpret cooperative task. To provide uniform measure to get external information of modeled objects in the real world, virtual information source-sensorlink-is designed. Real information sources distributed among node locations are transparently accessed by sensorlink. Task requirements imposed on the system are resolved to inner regulative laws. When motion trajectory of the task constrains two arms relatively, the laws leave degrees of freedom for actions of arms to give an alternative way of fulfillment. The example task executed is to push a button on the box held by one arm with the other's hand tip. Two arms move hands to suffice the laws using visual information through sensorlink. Then local node trouble in keeping the law-joint stop caused by given workspace-can be avoided using unconstrained degrees of freedom cooperatively.

View full abstract

Download PDF (1048K)
Integration of Problem Solving and Learning in Intelligent Robots

Jun MIURA, Isao SHIMOYAMA, Hirofumi MIURA

1990 Volume 8 Issue 3 Pages 281-291
Published: June 15, 1990
Released on J-STAGE: August 25, 2010

DOIhttps://doi.org/10.7210/jrsj.8.3_281

JOURNAL FREE ACCESS

Show abstractHide abstract

In the real world, there are many kinds of uncertainties in motions of robots. Moreover, robots cannot always get sufficient knowledge about tasks in advance. Therefore, intelligent robots must posses both problem solving ability to decide on proper motions with insufficient knowledge and learning ability to acquire knowledge from experiences. Effective integration of the two abilities is also important.
In this paper, we describe an experimental system named ARPEX-L (Advanced Robot Planning and Execution System with Learning Ability) . We applied ARPEX-L to two kinds of robot tasks, pick and place task and pushing block task. The former is an simple example of automatic robot programming. The latter is an attempt to make an actual robot learn by a symbolic method. Current defects of the system and future works are also described.

View full abstract

Download PDF (1462K)
Force Control of Robotic Manipulator by Neural Network

(Experimental Results and their Evaluation of One Degree-of-Freedom Manipulator)

Masatoshi TOKITA, Toyokazu MITSUOKA, Toshio FUKUDA, Takashi KURIHARA

1990 Volume 8 Issue 3 Pages 292-299
Published: June 15, 1990
Released on J-STAGE: August 25, 2010

DOIhttps://doi.org/10.7210/jrsj.8.3_292

JOURNAL FREE ACCESS

Show abstractHide abstract

In this paper, a force control of a robotic manipulator based on a neural network model is proposed with consideration of the dynamics of both the force sensor and objects. This proposed system consists of the standard PID controller, the gains of which are augmented and adjusted depending on objects through a process of learning. The authors proposed a similar method previously for the force control of the robotic manipulator with consideration of dynamics of objects, but without consideration of dynamics of the force sensor, showing only simulation results.
This paper shows the similar structure of the controller via the neural network model applicable to the cases with consideration of both effects and demonstrates that the proposed method shows the better performance than the conventional PID type of controller, yielding to the wider range of applications, consequently. Therefore, this method can be applied to the force/compliance control problems. The effects of the number of neurons and hidden layers of the neural network model are also discussed through the simulation and experimental results as well as the stability of the control system.

View full abstract

Download PDF (2181K)
Configuration Differing Bilateral Master/Slave Hand with Slip Sensation

Yukihiro BABA, Kenichi YOSHIMOTO

1990 Volume 8 Issue 3 Pages 300-302
Published: June 15, 1990
Released on J-STAGE: August 25, 2010

DOIhttps://doi.org/10.7210/jrsj.8.3_300

JOURNAL FREE ACCESS

Show abstractHide abstract

Many studies concerning remote manipulator systems have been published recently. Most of these studies are concerned about using end effectors with limited degrees of freedom.
In order to carry out complicated tasks, it is necessary to develop a bilateral master/slave hand system. We developed a configuration differing bilateral master/slave hand.
A control experiment using force feedback is carried out, and the bilateral servo system for master/slave control is investigated. The necessity of slip sensation feedback in a master/slave hand system is pointed out, and a slip sensation feedback method is suggested and validated through experiments.

View full abstract

Download PDF (1747K)
ERRATUM

1990 Volume 8 Issue 3 Pages 303a
Published: 1990
Released on J-STAGE: August 25, 2010

DOIhttps://doi.org/10.7210/jrsj.8.3_303a

JOURNAL FREE ACCESS

Download PDF (53K)
ERRATUM

1990 Volume 8 Issue 3 Pages 303b
Published: 1990
Released on J-STAGE: August 25, 2010

DOIhttps://doi.org/10.7210/jrsj.8.3_303b

JOURNAL FREE ACCESS

Download PDF (53K)
[title in Japanese]

[in Japanese]

1990 Volume 8 Issue 3 Pages 305
Published: June 15, 1990
Released on J-STAGE: August 25, 2010

DOIhttps://doi.org/10.7210/jrsj.8.3_305

JOURNAL FREE ACCESS

Download PDF (139K)
Behavior Control for a Mobile Robot by Dual-Hierarchical Neural Network

Minoru SEKIGUCHI, Shigemi NAGATA, Kazuo ASAKAWA

1990 Volume 8 Issue 3 Pages 306-314
Published: June 15, 1990
Released on J-STAGE: August 25, 2010

DOIhttps://doi.org/10.7210/jrsj.8.3_306

JOURNAL FREE ACCESS

Show abstractHide abstract

We are researching ways to use neurocomputers that have highly parallel data processing and learning functions for robot control. There are three requirements for the robots: The robot must be easy to control, but the neural network must be sophisticated enough to handle multiple sensor input. Second, the robot must be able to learn easily. Third, the robot must be able to adjust its own actions. We developed a new mobile mechanism, created a network model, and increased the network learning speed. Sensor signals from the robot are input to the neural network. The network outputs a certain reaction pattern in response to the sensor input. Then the reaction is refined to an ideal one using training patterns. A robot can change its reaction pattern by changing the training pattern. We created two robots with different action patterns: one chases other robots, the other runs away from other robots. We confirmed that a neurocomputer can effectively control robot actions.

View full abstract

Download PDF (2777K)
[title in Japanese]

Nobuhiro IGUCHI

1990 Volume 8 Issue 3 Pages 315-319
Published: June 15, 1990
Released on J-STAGE: August 25, 2010

DOIhttps://doi.org/10.7210/jrsj.8.3_315

JOURNAL FREE ACCESS

Download PDF (2122K)
[title in Japanese]

Shinichi YUTA

1990 Volume 8 Issue 3 Pages 320-323
Published: June 15, 1990
Released on J-STAGE: August 25, 2010

DOIhttps://doi.org/10.7210/jrsj.8.3_320

JOURNAL FREE ACCESS

Download PDF (2010K)
[title in Japanese]

Kazuo ASAKAWA

1990 Volume 8 Issue 3 Pages 324-327
Published: June 15, 1990
Released on J-STAGE: August 25, 2010

DOIhttps://doi.org/10.7210/jrsj.8.3_324

JOURNAL FREE ACCESS

Download PDF (4162K)
[title in Japanese]

Masaaki YAMAGUCHI, Nobuhiro IGUCHI

1990 Volume 8 Issue 3 Pages 328-333
Published: June 15, 1990
Released on J-STAGE: August 25, 2010

DOIhttps://doi.org/10.7210/jrsj.8.3_328

JOURNAL FREE ACCESS

Download PDF (2991K)
[title in Japanese]

Kenji MUGITA

1990 Volume 8 Issue 3 Pages 334-338
Published: June 15, 1990
Released on J-STAGE: August 25, 2010

DOIhttps://doi.org/10.7210/jrsj.8.3_334

JOURNAL FREE ACCESS

Download PDF (2351K)
[title in Japanese]

Masao KOBAYASHI

1990 Volume 8 Issue 3 Pages 339-341
Published: June 15, 1990
Released on J-STAGE: August 25, 2010

DOIhttps://doi.org/10.7210/jrsj.8.3_339

JOURNAL FREE ACCESS

Download PDF (3225K)
[title in Japanese]

[in Japanese], [in Japanese]

1990 Volume 8 Issue 3 Pages 342
Published: June 15, 1990
Released on J-STAGE: August 25, 2010

DOIhttps://doi.org/10.7210/jrsj.8.3_342

JOURNAL FREE ACCESS

Download PDF (1604K)
[title in Japanese]

[in Japanese], [in Japanese], [in Japanese]

1990 Volume 8 Issue 3 Pages 343
Published: June 15, 1990
Released on J-STAGE: August 25, 2010

DOIhttps://doi.org/10.7210/jrsj.8.3_343

JOURNAL FREE ACCESS

Download PDF (1586K)
[title in Japanese]

[in Japanese], [in Japanese], [in Japanese]

1990 Volume 8 Issue 3 Pages 344
Published: June 15, 1990
Released on J-STAGE: August 25, 2010

DOIhttps://doi.org/10.7210/jrsj.8.3_344

JOURNAL FREE ACCESS

Download PDF (1728K)
[title in Japanese]

[in Japanese], [in Japanese], [in Japanese]

1990 Volume 8 Issue 3 Pages 345
Published: June 15, 1990
Released on J-STAGE: August 25, 2010

DOIhttps://doi.org/10.7210/jrsj.8.3_345

JOURNAL FREE ACCESS

Download PDF (1477K)
[title in Japanese]

[in Japanese]

1990 Volume 8 Issue 3 Pages 346
Published: June 15, 1990
Released on J-STAGE: August 25, 2010

DOIhttps://doi.org/10.7210/jrsj.8.3_346

JOURNAL FREE ACCESS

Download PDF (1611K)
[title in Japanese]

[in Japanese]

1990 Volume 8 Issue 3 Pages 347
Published: June 15, 1990
Released on J-STAGE: August 25, 2010

DOIhttps://doi.org/10.7210/jrsj.8.3_347

JOURNAL FREE ACCESS

Download PDF (1740K)
[title in Japanese]

[in Japanese]

1990 Volume 8 Issue 3 Pages 348
Published: June 15, 1990
Released on J-STAGE: August 25, 2010

DOIhttps://doi.org/10.7210/jrsj.8.3_348

JOURNAL FREE ACCESS

Download PDF (2012K)
[title in Japanese]

[in Japanese], [in Japanese], [in Japanese], [in Japanese]

1990 Volume 8 Issue 3 Pages 349
Published: June 15, 1990
Released on J-STAGE: August 25, 2010

DOIhttps://doi.org/10.7210/jrsj.8.3_349

JOURNAL FREE ACCESS

Download PDF (1789K)
[title in Japanese]

[in Japanese], [in Japanese]

1990 Volume 8 Issue 3 Pages 350
Published: June 15, 1990
Released on J-STAGE: August 25, 2010

DOIhttps://doi.org/10.7210/jrsj.8.3_350

JOURNAL FREE ACCESS

Download PDF (1951K)
[title in Japanese]

[in Japanese], [in Japanese]

1990 Volume 8 Issue 3 Pages 351
Published: June 15, 1990
Released on J-STAGE: August 25, 2010

DOIhttps://doi.org/10.7210/jrsj.8.3_351

JOURNAL FREE ACCESS

Download PDF (1454K)
[title in Japanese]

[in Japanese], [in Japanese]

1990 Volume 8 Issue 3 Pages 352
Published: June 15, 1990
Released on J-STAGE: August 25, 2010

DOIhttps://doi.org/10.7210/jrsj.8.3_352

JOURNAL FREE ACCESS

Download PDF (1460K)
[title in Japanese]

[in Japanese], [in Japanese], [in Japanese]

1990 Volume 8 Issue 3 Pages 353
Published: June 15, 1990
Released on J-STAGE: August 25, 2010

DOIhttps://doi.org/10.7210/jrsj.8.3_353

JOURNAL FREE ACCESS

Download PDF (1598K)
[title in Japanese]

[in Japanese], [in Japanese]

1990 Volume 8 Issue 3 Pages 354
Published: June 15, 1990
Released on J-STAGE: August 25, 2010

DOIhttps://doi.org/10.7210/jrsj.8.3_354

JOURNAL FREE ACCESS

Download PDF (1754K)
[title in Japanese]

[in Japanese], [in Japanese]

1990 Volume 8 Issue 3 Pages 355
Published: June 15, 1990
Released on J-STAGE: August 25, 2010

DOIhttps://doi.org/10.7210/jrsj.8.3_355

JOURNAL FREE ACCESS

Download PDF (1786K)
[title in Japanese]

[in Japanese], [in Japanese]

1990 Volume 8 Issue 3 Pages 356
Published: June 15, 1990
Released on J-STAGE: August 25, 2010

DOIhttps://doi.org/10.7210/jrsj.8.3_356

JOURNAL FREE ACCESS

Download PDF (2043K)
[title in Japanese]

[in Japanese]

1990 Volume 8 Issue 3 Pages 357
Published: June 15, 1990
Released on J-STAGE: August 25, 2010

DOIhttps://doi.org/10.7210/jrsj.8.3_357

JOURNAL FREE ACCESS

Download PDF (1528K)
[title in Japanese]

[in Japanese]

1990 Volume 8 Issue 3 Pages 358
Published: June 15, 1990
Released on J-STAGE: August 25, 2010

DOIhttps://doi.org/10.7210/jrsj.8.3_358

JOURNAL FREE ACCESS

Download PDF (1910K)
[title in Japanese]

[in Japanese], [in Japanese]

1990 Volume 8 Issue 3 Pages 359
Published: June 15, 1990
Released on J-STAGE: August 25, 2010

DOIhttps://doi.org/10.7210/jrsj.8.3_359

JOURNAL FREE ACCESS

Download PDF (1547K)
[title in Japanese]

[in Japanese]

1990 Volume 8 Issue 3 Pages 360
Published: June 15, 1990
Released on J-STAGE: August 25, 2010

DOIhttps://doi.org/10.7210/jrsj.8.3_360

JOURNAL FREE ACCESS

Download PDF (1748K)
[title in Japanese]

[in Japanese], [in Japanese], [in Japanese], [in Japanese], [in Japane ...

1990 Volume 8 Issue 3 Pages 361
Published: June 15, 1990
Released on J-STAGE: August 25, 2010

DOIhttps://doi.org/10.7210/jrsj.8.3_361

JOURNAL FREE ACCESS

Download PDF (1472K)
[title in Japanese]

[in Japanese]

1990 Volume 8 Issue 3 Pages 362
Published: June 15, 1990
Released on J-STAGE: August 25, 2010

DOIhttps://doi.org/10.7210/jrsj.8.3_362

JOURNAL FREE ACCESS

Download PDF (2015K)
[title in Japanese]

[in Japanese], [in Japanese]

1990 Volume 8 Issue 3 Pages 363
Published: June 15, 1990
Released on J-STAGE: August 25, 2010

DOIhttps://doi.org/10.7210/jrsj.8.3_363

JOURNAL FREE ACCESS

Download PDF (1875K)
[title in Japanese]

[in Japanese]

1990 Volume 8 Issue 3 Pages 364
Published: June 15, 1990
Released on J-STAGE: August 25, 2010

DOIhttps://doi.org/10.7210/jrsj.8.3_364

JOURNAL FREE ACCESS

Download PDF (1722K)
[title in Japanese]

[in Japanese]

1990 Volume 8 Issue 3 Pages 365
Published: June 15, 1990
Released on J-STAGE: August 25, 2010

DOIhttps://doi.org/10.7210/jrsj.8.3_365

JOURNAL FREE ACCESS

Download PDF (1779K)
[title in Japanese]

[in Japanese], [in Japanese], [in Japanese]

1990 Volume 8 Issue 3 Pages 366
Published: June 15, 1990
Released on J-STAGE: August 25, 2010

DOIhttps://doi.org/10.7210/jrsj.8.3_366

JOURNAL FREE ACCESS

Download PDF (1921K)
[title in Japanese]

[in Japanese], [in Japanese]

1990 Volume 8 Issue 3 Pages 367
Published: June 15, 1990
Released on J-STAGE: August 25, 2010

DOIhttps://doi.org/10.7210/jrsj.8.3_367

JOURNAL FREE ACCESS

Download PDF (1650K)
[title in Japanese]

[in Japanese]

1990 Volume 8 Issue 3 Pages 368
Published: June 15, 1990
Released on J-STAGE: August 25, 2010

DOIhttps://doi.org/10.7210/jrsj.8.3_368

JOURNAL FREE ACCESS

Download PDF (1927K)
Discussion on Japanese Creativity

[in Japanese]

1990 Volume 8 Issue 3 Pages 370-371
Published: June 15, 1990
Released on J-STAGE: August 25, 2010

DOIhttps://doi.org/10.7210/jrsj.8.3_370

JOURNAL FREE ACCESS

Download PDF (281K)
[title in Japanese]

Makoto Kaneko

1990 Volume 8 Issue 3 Pages 374
Published: June 15, 1990
Released on J-STAGE: August 25, 2010

DOIhttps://doi.org/10.7210/jrsj.8.3_374

JOURNAL FREE ACCESS

Download PDF (131K)
[title in Japanese]

[in Japanese], [in Japanese]

1990 Volume 8 Issue 3 Pages 375
Published: June 15, 1990
Released on J-STAGE: August 25, 2010

DOIhttps://doi.org/10.7210/jrsj.8.3_375

JOURNAL FREE ACCESS

Download PDF (2062K)

feedback

Top

Register with J-STAGE for free!