巻号一覧
29 巻, 4 号
選択された号の論文の17件中1～17を表示しています
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後藤 有一郎, 神 康晴, 西元 善郎, 内藤 廣幸, 山村 武, 井分 昭夫1993 年 29 巻 4 号 p. 377-384
発行日: 1993/04/30
公開日: 2009/03/27
ジャーナル フリーMeasurement of locations of facilities and detection of obstacles along railway is one of the most important tasks to assure the safety of railway transportation. Since the inspection is required along a very long distance, automatic in-motion inspection is in high demand. A dynamic obstacle detecting system for railway surroundings has been developed.
The system employs a novel laser-sectioning method and allows a precise measurement of locations and shapes of constructions such as a tunnel, platform and bridge. The measured data are compared with the construction gauge, the traffic safety boundary prescribed by statute. A high accuracy was obtained by a novel imaging optics which has a different magnifying power in the horizontal and vertical directions. It enables the conventional light-sectioning method to improve in the accuracy while keeping the field of view sufficiently wide. A real time in-motion measurement was realized by a specially designed pipeline video-rate processor.
In the experiment on the Takayama line of Central Japan Railway, it was confirmed that most objects could be successfully detected and that the accuracy in the range measurement was within 10mm at 7km/h.抄録全体を表示PDF形式でダウンロード (3373K) -
白井 達也, 金子 真1993 年 29 巻 4 号 p. 385-394
発行日: 1993/04/30
公開日: 2009/03/27
ジャーナル フリーPower transmission systems with timing belt are often used in various machines because of their simple mechanism and easy treatment. However, the diagnosis for those transmission system has not fully established. This paper discusses self-failure diagnosis for a timing belt transmission system using tension-differential-type torque sensor (TDT sensor). A tension pulley is usually incorporated into a part of the transmission system, so that the system can maintain a proper tension during operation. Since such a tension pulley receives force directly from the timing belt, it is expected that the diagnosis of the timing belt can be done with much high S/N ratio and thus with high reliability. Based on this idea, the authors designed a TDT sensor available for a timing belt application, and explored a diagnosis algorithm detectable not only for a timing belt with V-crack but also for a timing belt with blinding at a tooth. Through a number of experiments, we verified the effectiveness of the proposed algorithm and also found an interesting behavior of the sensor signals which is not expected.抄録全体を表示PDF形式でダウンロード (2583K) -
阿部 直人, 嘉納 秀明1993 年 29 巻 4 号 p. 395-400
発行日: 1993/04/30
公開日: 2009/03/27
ジャーナル フリーThis paper investigates some properties of an optimal regulator of a distributed parameter system which is described by a linear symmetric hyperbolic partial differential equation. Although the linear quadratic cost problem of such system has been solved, the properties of the optimal regulator have not been discussed. We show that a circle condition holds for the optimal regulator and also discuss pole location of the optimal regulator, that is, the optimal closed-loop poles are determined as roots of the determinant of a Hamilton type matrix.抄録全体を表示PDF形式でダウンロード (941K) -
田代 良一, 久村 富持1993 年 29 巻 4 号 p. 401-410
発行日: 1993/04/30
公開日: 2009/03/27
ジャーナル フリーIn this paper, a decentralized adaptive tracking control is studied for a large-scale, discrete-time system which consists of N interconnected SISO subsystems {Si} (i=1, 2, …, N) with unknown parameters. Most of past studies treated the interconnections as a disturbance, assuming that they were relatively weak, and emphasis was placed on stability rather than control accuracy. To improve the control accuracy, a control strategy with following features is proposed, provided that a common information link among subsystems is available, which supplies to subsystems informations about input and output data of the system. In this method, the effects of interconnections from other subsystems are estimated and considered to generate a control in each subsystem. Furthermore, informations about the generators of the desired outputs of other subsystems are used to improve the tracking accuracy. A modified constant-trace type least-squares algorithm is employed to estimate system and interconnection parameters. The stability of overall systems is analyzed and the effect of relative magnitude of dead time in subsystems are investigated. The results are illustrated by computer simulations.抄録全体を表示PDF形式でダウンロード (1647K) -
浪花 智英, 有本 卓1993 年 29 巻 4 号 p. 411-418
発行日: 1993/04/30
公開日: 2009/03/27
ジャーナル フリーA learning control scheme for a class of robot manipulators whose end point is geometrically constrained is proposed. This scheme is based on only PD feedback control and composed of a simple recursive update law, which makes the next actuator input torque consist of the vector of previous angular velocity errors and the force error at the manipulator endpoint constrained on a surface.
A theoretical proof of the uniform boundedness of velocity and position trajectory errors and the convergence to their given desired trajectories is presented. Simulation results by using a 3 DOF manipulator whose end point constrained on a vertical surface in the gravity field are presented to demonstrate the efficiency of the proposed method and the convergence of trajectories.
In these simulations, it is observed that the force trajectories at the end point converge to the desired one simultaneously together with the convergence of position and velocity trajectories. However, a theoretical proof on the convergence of force trajectories remains unsolved.抄録全体を表示PDF形式でダウンロード (1616K) -
田所 諭, 高森 年1993 年 29 巻 4 号 p. 419-428
発行日: 1993/04/30
公開日: 2009/03/27
ジャーナル フリーIn this paper, a new index for evaluation of dexterity is proposed on the basis of manipulator dynamics. It is called Stochastic Dynamic Manipulability Measure.
It can deal with deviation of end-effector acceleration according to the direction of motion, which is a characteristic of required manipulator motion. Therefore, it can evaluate how suitable a robot mechanism is for its objective task considering features of the motion. This ability is really important for a dexterity index because a manipulator mechanism is designed to be able to perform its objective task. It does not mean undexterity that it cannot accomplish other tasks efficiently.
The deviation is given by a probability density function. The evaluation is based on expected value of mean of joint torques which are necessary for stochastically described motion.
Applications to 2- and 3-DOF manipulators revealed the following.
1. It is important to consider deviation of motion in dexterity evaluation.
2. Stochastic dynamic manipulability always values worse when there is a direction in which it is extremely difficult for an end-effector to move.
3. Singular points sometimes substantially lose their singularity.
4. Optimal trajectory can be planned by using contour-line maps of stochastic dynamic manipulability in joint acceleration space.
5. Contour-line maps in task space help optimal mechanism design and installation planning of manipulators.
6. Maps in null space of Jacobian matrix can be used to determine configurations of redundant manipulators.抄録全体を表示PDF形式でダウンロード (1350K) -
山本 巖1993 年 29 巻 4 号 p. 429-436
発行日: 1993/04/30
公開日: 2009/03/27
ジャーナル フリーDescribed in this paper, is a pneumatic grasping device which performs a similar catching operation to insectivorous plants.
Two sets of double bellows, which have the same construction, are aligned. A nozzle is attached to each centre of movable ends of both sets of bellows, and one of the movable ends faces to the other at a distance. Inside chambers of the double bellows are pneumatically interconnected, and air is fed from a constant low pressure source into the chambers and it flows out to the atmosphere from the nozzles. Outside chambers of the double bellows are enclosed and interconnected. A sensing head of a nozzle-flapper system faces to a moving part of a bellows chamber which is connected to the inside chambers of the double bellows, and the output port of the nozzle-flapper system is connected to the outside chambers of the double bellows.
When an object is inserted in the space between the movable ends, the pressure in the inside chambers increases corresponding to the total length of gaps between the nozzles and their counter-faces. The pressure increase causes high pressure change in the outside chamber by the nozzle-flapper system, and the pressure change makes the gaps more and more small, due to the elongation of the double bellows. Owing to such regenerative action of the pneumatic circuit, the movable ends contact the faces of the object quickly and maintain to grasp the object with a force proportional to the supply pressure of the nozzle-flapper system.抄録全体を表示PDF形式でダウンロード (1770K) -
吉田 耕一, 藪田 哲郎1993 年 29 巻 4 号 p. 437-446
発行日: 1993/04/30
公開日: 2009/03/27
ジャーナル フリーThis paper presents a digital control architecture of bilateral master-slave manipulator systems which can realize high-fidelity telemanipulation.
So far, we proposed a digital control algorithm for bilateral master-slave manipulator systems which maintains system stability even though the inertial parameters of the operator and the task object are changed. This algorithm was developed based on linearization using inverse dynamics, however, obtaining precise manipulator dynamic models is not easy.
In order to realize high-fidelity telemanipulation in actual manipulator systems, it is necessary to achieve high-performance dynamic control of the manipulator and to incorporate force and acceleration signal sensors. So, we installe a disturbance observer in front of the master-slave controller in each manipulator to compensate for error dynamics from a model system, such as friction at manipulator joints. As a result, we can design a master-slave control system based on the model manipulator system and that helps to estimate the acceleration signals of the manipulator end-point using model manipulator dynamics, where previously acceleration sensors were required for high performance bilateral control.
In this paper, we first design a double structured digital controller consisting of disturbance observers and a master-slave controller. Secondly, stability of the designed disturbance observer is analyzed for single degree-of-freedom case. Finally, the validity of the proposed control method is confirmed experimentally for a single degree-of-freedom master-slave system.抄録全体を表示PDF形式でダウンロード (1957K) -
山田 克彦1993 年 29 巻 4 号 p. 447-454
発行日: 1993/04/30
公開日: 2009/03/27
ジャーナル フリーAttitude control of a space robot by the manipulator arm is considered in this paper. For the purpose, we give an effective algorithm to find the arm trajectory from the initial posture of the arm to the final posture identical to the initial one. The criterion of the algorithm is to suppress the arm motion. From the algorithm, we introduce a measure to evaluate the easiness of the attitude control by the arm motion. Numerical study is executed to examine the value of the measure for every direction of the attitude change. The result shows that there is no direction where the attitude change is extremely difficult. Numerical simulation is also executed to verify that the proposed trajectory gives the desired attitude change.抄録全体を表示PDF形式でダウンロード (1826K) -
野間 春生, 岩田 洋夫1993 年 29 巻 4 号 p. 455-460
発行日: 1993/04/30
公開日: 2009/03/27
ジャーナル フリーAnew research field in human interface called “Artificial reality” is discussed. Artificial reality is expected to form a new configuration of human-computer interaction. Though the research in this field, necessity for force feedback has been recognized. This paper describes a method of implementation of the force feedback device (force display) and its performance evaluation. Our device presents desktop virtual space in which computer generates visual and tactile sensation. An operator wears 9 D.O.F master manipulator on the right hand and puts H.M.D (Head Mounted Display) on. The operator can touch and hold virtual objects in virtual space. Evaluating system performance, behavior and reaction time for putting on a virtual toggle switch are examined. Distance and size of the toggle switch were considered as indices of difficultly of the operation. From the results, it was suggested that an operation with tactile sense has advantage on recognizability of switch.抄録全体を表示PDF形式でダウンロード (1936K) -
線形計画法による探索包原 孝英, 稲葉 昭夫, 川瀬 俊夫, 鈴木 達也, 大熊 繁1993 年 29 巻 4 号 p. 461-469
発行日: 1993/04/30
公開日: 2009/03/27
ジャーナル フリーAn assembly planning is a significant problem for an automatic assembling using robotic manipulators. To cope with this problem, lots of strategies have been proposed. One of the most promising method for this problem is a planning based on the AND/OR graph representation. However, the drawback in the past research is that the mathematical structure of the AND/OR graph is somewhat obscure. In this paper, we present a new assembly planning method using Petri Net graph. Firstly, we model the assembly network by using the Petri Net graph with referring to the conventional AND/OR graph. Here, the AND/OR graph is assumed to be given. Secondly, the state equation of Petri Net, which is a mathematical model of Petri Net graph, is analyzed. From this analysis, it is clarified that the set of a basis solution of a state transition matrix is identical to the set of a solution which corresponds to an actual assembly sequence. This results in the fact that, when we consider an optimization problem which minimize a summation of a weight value of all tasks included in the assembly sequence, we can use a linear programming (LP) technique. This kind of optimization problem has been solved by a heuristic method such as AO*. However, in case of using AO*, it is difficult to determine the heuristic function, and, moreover, it is not ensured that we can get the optimal solution. On the contrary, in case of LP technique, the optimal solution can always be found. Finally, we show some numerical examples to certify the validity of the proposed analysis.抄録全体を表示PDF形式でダウンロード (1529K) -
片井 修, 井田 正明, 椹木 哲夫, 岩井 壮介1993 年 29 巻 4 号 p. 470-479
発行日: 1993/04/30
公開日: 2009/03/27
ジャーナル フリーNew perspective and treatment of fuzziness are introduced based on constraint-oriented ways of problem solving, by which two fundamental aspects of fuzziness, i.e., the “logical & hard” aspect and the “distributed & soft” aspect are elucidated. It is shown by using the control of inverted pendulum that the latter aspect provides flexible and efficient ways of problem solving, and also by using a path planning of a vehicle that the former aspect provides ways of constructing hybrid problem solving systems in which the symbolic problem solving methods in artificial intelligence can be incorporated to fuzzy logic-based information processing, thus enabling complicated and multi-step fuzzy inference.抄録全体を表示PDF形式でダウンロード (4563K) -
日向 滋, 姫野 修廣, 桜井 正幸, 寺尾 計彦, 飯田 秀徳1993 年 29 巻 4 号 p. 480-482
発行日: 1993/04/30
公開日: 2009/03/27
ジャーナル フリーAn experimental study on mixing and freezing process of solution in two cells separated by a cellophane membrane was performed. The vertical distributions of concentration and temperature were obtained by using a salinity sensor.抄録全体を表示PDF形式でダウンロード (371K) -
林 陽之輔, 富田 豊1993 年 29 巻 4 号 p. 483-484
発行日: 1993/04/30
公開日: 2009/03/27
ジャーナル フリーWe investigated the possibility of sugar content measurement in fruit with Nuclear Magnetic Resonance spectrum. We tested the samples of sugar-water mixture and fresh apple juice. The result suggested it possible to grade raw fruit non-destructively.抄録全体を表示PDF形式でダウンロード (300K) -
竹内 敬治, 西岡 勝博, 足立 紀彦1993 年 29 巻 4 号 p. 485-487
発行日: 1993/04/30
公開日: 2009/03/27
ジャーナル フリーA method for computing root loci by a system of differential equations is presented. The branching points of the root roci are estimated successfully, so that numerical difficulties around the points are avoided. By this algorithm root loci can be traced efficiently near the branching points.抄録全体を表示PDF形式でダウンロード (341K) -
加瀬 渡1993 年 29 巻 4 号 p. 488-490
発行日: 1993/04/30
公開日: 2009/03/27
ジャーナル フリーIn the design of model matching control systems based on left fraction descriptions of a given transfer function matrix, some dynamics are added to solve the design equations. This note presents a design procedure which need not such an additional dynamics. Division algorithm of polynomial matrices given by Wolovich is extended for this.抄録全体を表示PDF形式でダウンロード (276K) -
佐伯 正美1993 年 29 巻 4 号 p. 491-493
発行日: 1993/04/30
公開日: 2009/03/27
ジャーナル フリーSince exact linearization method is not always applicable for systems of order greater than two and an inverted pendulum system is the fourth order, a design method of approximating a control law obtained by exact linearization method is proposed.抄録全体を表示PDF形式でダウンロード (334K)
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