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Yoichi KIMURA, Ryoji MUKAI, Fuminori KOBAYASHI, Masaru KOBAYASHI
1990 Volume 8 Issue 4 Pages
377-384
Published: August 15, 1990
Released on J-STAGE: August 25, 2010
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Usual repetitive control, when applied to path control of robots, cannot afford dynamical path speed changes, which correspond to changes in the reference period. This paper proposes a modified repetitive control that achieves feedforward control by switching the waveforms previously stored in several controllers according to speed changes, in an interpolating manner if necessary. An algorithm to implement the proposed method for robots is developed, and a deburring robot is actually constructed to change its path speed according to the cutting load, which is detected by the variation of tool revolutionary speed. Experimental results with test models show that the method can significantly reduce errors even when speed changes, and is advantageous to achieve accurate robots.
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Hidemi TAKAHASHI, Minoru KIMURA, Osamu YAMADA, Hiroshi NAITO, Reiji SA ...
1990 Volume 8 Issue 4 Pages
385-389
Published: August 15, 1990
Released on J-STAGE: August 25, 2010
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We have developed a CO
2 laser radar for the robotic vision. The amplitude of a CO
2 laser beam is modulated sinusoidally with an electro-optic modulator (EOM) . The distance is measured as the phase difference of the modulation between the detected return light from the target and the reference signal. The range image is obtained when the laser beam is scanned in two directions. The frequency of modulation of 5 MHz, 15 MHz, and 40 MHz are examined. The good result of the resolution of 3 cm is achieved at the modulation frequency of 40 MHz. Moreover, the range images through the simulated disaster circumstances have been obtained, which demonstrated the good transparency of the CO
2 laser.
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Hideki HASHIMOTO, Takashi KUBOTA, Motoo SATO, Fumio HARASHIMA
1990 Volume 8 Issue 4 Pages
390-396
Published: August 15, 1990
Released on J-STAGE: August 25, 2010
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This paper describes a control scheme for a robotic manipulator system which uses visual information to position and orientate the end-effector. In the scheme the position and the orientation of the target workpiece with respect to the base frame of the robot are assumed to be unknown, but the desired relative position and orientation of the end-effector to the target workpiece are given in advance. The control system directly integrates visual data into the servoing process without subdi-viding the process into determination of the position and orientation of the workpiece and inverse kinematic calculation. An artificial neural network system is used for determining the change in joint angles required in order to achieve the desired position and orientation. The proposed system can control the robot so that it approach the desired position and orientation from arbitrary initial ones. Simulation for the robotic manipulator with six degrees of freedom is done. The validity and the effectiveness of the proposed control scheme are verified by computer simulations.
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Kenji OKAMOTO, Akihiro OOKA, Koji YAMADA, Kimizo ONO, Yuji KOHSAKA
1990 Volume 8 Issue 4 Pages
397-406
Published: August 15, 1990
Released on J-STAGE: August 25, 2010
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This paper describes a patient lifting arm for use on patient care robots. This device is designed to be installed on a locomotion vehicle for use in medical facilities. By changing the configuration from that of a wheel chair to a stretcher shape, when a slide plate can be inserted between the patient and the bed, it becomes possible to lift the patient. A belt-equipped slide plate construction has been employed to ensure that the patient is not subjected to any discomfort, and new functions, such as two-stage lifting action, have been added. Sensor based control provides automatic lifting of the patient while detecting the positions of the patient and the bed. In addition, for use as the sensor device, we developed a large-size two-dimensional tactile sensor using the pressure sensitive conductive rubber sheet.
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Kenichi KANATANI, Kazunari WATANABE
1990 Volume 8 Issue 4 Pages
407-412
Published: August 15, 1990
Released on J-STAGE: August 25, 2010
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A new algorithm is presented for reconstructing the 3 D road shape from camera images for the purpose of navigating autonomous land vehicles (ALVs) . The apporoximation that
the road surface is locally flat enables us to determine a one-to-one correspondence between the two road boundaries, which together with our knowledge about the road shape (the “model” of roads) determines the 3 D road shape. In order to cope with inaccuracy of image data, a least-squares curve fitting technique is proposed. An example based on real image data is also shown.
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Kosei KITAGAKI, Masaru UCHIYAMA
1990 Volume 8 Issue 4 Pages
413-420
Published: August 15, 1990
Released on J-STAGE: August 25, 2010
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A new method of generating an optimal approach velocity of a manipulator to its environment is presented in order to control the collision forces properly. First, analysis of a contact motion shows the necessity of contact control not only after the collision, as in previous studies, but also before it. Next, using a model of the force-controlled end-effector and its environment, forces generated at the contact are formulated as outputs of an autonomous system of which the initial condition is determined by the approach velocity. The optimal approach velocity is defined as the velocity which minimizes a performance index : the integration of the square deviation of contact forces from an equilibrium forces in the control of contact forces. A proportional relation between the optimal approach velocity and the contact force reference is derived analytically based on a mass-damper-spring model of the force-controlled end-effector and its environment. Results in simulation and experiment are presented to prove the effectiveness of the method.
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Mamoru MINAMI, Masahiro SUDARE, Satoshi UEDA, Yoshikazu NAKANO
1990 Volume 8 Issue 4 Pages
421-430
Published: August 15, 1990
Released on J-STAGE: August 25, 2010
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The application of a homogeneous matrix (Denavit-Hartenberg Convention) to manipulator-equipped mobile robots can unify the movement expression of mobile robot and manipulator kinematics. This concept can be expected to enable enhanced operational efficiency for total system control. Proposed in this paper is a new guidance method for autonomous mobile robots operating on arbitrarily curved courses, using a homogeneous matrix system. We approximated an arbitrarily shaped course to circular arcs and straight lines to make easier to describe it by language as the objective course. The proposed guidance control method, based on the geometrical concept that a circular course with an infinitely long radius is equal to a straight course, is suited to these course variations. Results of actual driving experiments showed sufficiently practical performance by the proposed guidance method.
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[in Japanese], [in Japanese]
1990 Volume 8 Issue 4 Pages
433
Published: August 15, 1990
Released on J-STAGE: August 25, 2010
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Hirofumi MIURA
1990 Volume 8 Issue 4 Pages
434-438
Published: August 15, 1990
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J.Gabriel Kaigham
1990 Volume 8 Issue 4 Pages
439-444
Published: August 15, 1990
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Structural components, actuators, sensors and edectronics are the fundamental components of any robotic system, large or small. Actuators, under the control of the drive and sensor electronics, provide input to move the structural components through specified trajectories. Hence, prerequisites to the successful fabrication of IC-based, multi-components, electromechanical robotic devices are components, actuators and sensors compatible with the processing and materials of IC electronic devices.
In this paper, we present a review of such micro electromechanical devices, noting the critical developments in technology and science in the last two years. We begin with a working definition for micro electromechanical systems and briefly describe the origins of the IC-based micro electromechanical systems from the more mature solid-state sensor field. Next we describe silicon surface micromachining, a common technique for the fabrication of many defferent types of passive components and actuators used in micro, electromechanical systems. We follow with a presentation of results from advances in the design, fabrication and testing of IC-based actuators ; specifically the recent work on a variety of side-drive, electrostatic motors. With the components and actuator reviews as a background, we then note the key points from a study which looked into the design and fabrication of an IC-based, planar, three-degree-of-freedom positioner. Finally, we conclude with some remarks on apparent trends and future directions for research in the field of IC-based micro electromechanical systems
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Teru HAYASHI
1990 Volume 8 Issue 4 Pages
445-451
Published: August 15, 1990
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Hiroyuki FUJITA
1990 Volume 8 Issue 4 Pages
452-454
Published: August 15, 1990
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Isao SHIMOYAMA
1990 Volume 8 Issue 4 Pages
455-458
Published: August 15, 1990
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Masayoshi ESASHI
1990 Volume 8 Issue 4 Pages
459-464
Published: August 15, 1990
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Katsufusa SHONO, Terunobu AKIYAMA
1990 Volume 8 Issue 4 Pages
465-467
Published: August 15, 1990
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Jun-icih MAKINO, Seikoo SUZUKI
1990 Volume 8 Issue 4 Pages
468-471
Published: August 15, 1990
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Kenichiro SUZUKI, Hiroshi TANIGAWA
1990 Volume 8 Issue 4 Pages
472-474
Published: August 15, 1990
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Osamu TABATA, Susumu SUGIYAMA
1990 Volume 8 Issue 4 Pages
475-478
Published: August 15, 1990
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Toshiro HIGUCHI, Yutaka YAMAGATA
1990 Volume 8 Issue 4 Pages
479-482
Published: August 15, 1990
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Dai HOMMA
1990 Volume 8 Issue 4 Pages
483-485
Published: August 15, 1990
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Yotaro HATAMURA
1990 Volume 8 Issue 4 Pages
486-488
Published: August 15, 1990
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Koji IKUTA
1990 Volume 8 Issue 4 Pages
489-491
Published: August 15, 1990
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Naomasa NAKAJIMA
1990 Volume 8 Issue 4 Pages
492-494
Published: August 15, 1990
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Kenji UCHINO
1990 Volume 8 Issue 4 Pages
495-497
Published: August 15, 1990
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Yoshitaka TATSUE, Tokio KITAHARA
1990 Volume 8 Issue 4 Pages
498-500
Published: August 15, 1990
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Ichiro Kimura
1990 Volume 8 Issue 4 Pages
501-502
Published: August 15, 1990
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Akira Shimada
1990 Volume 8 Issue 4 Pages
503
Published: August 15, 1990
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