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Study on Proximity Sensor for Robots and its Application

Research Project

Project/Area Number 01550198
Research Category

Grant-in-Aid for General Scientific Research (C)

Allocation TypeSingle-year Grants
Research Field 機械力学・制御工学
Research InstitutionThe University of Tokyo

Principal Investigator

SASAKI Ken  The University of Tokyo, Faculty of Engineering, Associate Professor, 工学部, 助教授 (40178645)

Project Period (FY) 1989 – 1990
Project Status Completed (Fiscal Year 1990)
Budget Amount *help
¥1,800,000 (Direct Cost: ¥1,800,000)
Fiscal Year 1990: ¥200,000 (Direct Cost: ¥200,000)
Fiscal Year 1989: ¥1,600,000 (Direct Cost: ¥1,600,000)
KeywordsRobot / Proximity Sensor / Ultrasonic Sensor / 近接センサ
Research Abstract

Analysis and application of ultrasonic proximity sensor for robots is the main theme of this research.
Last year, a new method to discern flat surface and edges of an object using an ultrasonic sensor array. This array has seven identical condenser transducers. Diameter of each transducer is 10 [mm]. The basic idea of recognition is that the mirror images of the transmitters differs according to the shape of the reflecting surface. However, in the course of this development, a further analysis on mechanism of ultrasound reflection became necessary.
This year, analysis on ultrasound reflection has been carried out based on Fourier analysis. The results are as follows : 1) When the same transducer is used both as transmitter and receiver, its directional characteristics can be approximated by exponential function. 2) Acoustic impulse response of the reflecting surface can be obtained by measuring the frequency response relative to a reflection from a flat surface. Edges of an workpiece show a distinct difference in both amplitude and phase compared to smooth surface. This difference is used in recognition process. 3) Directional characteristics of a transducer is frequency dependent. This frequency dependence should be taken into account when measuring the frequency response of the reflecting surface.
These results of the analysis indicates some ideas for further development of the ultrasonic sensor array developed last year.
The performance of the robot controller which has been modified last year was not sufficient for real-time sensor feedback control of a robot. This year, a further modification has been carried out. The sampling interval has been shortened to 2[msec] which is short enough for the purpose. However, this modification took much more time than originally planned. Due to this delay, verification of the sensor performance using the robot was not sufficient. This is to be done in the near future.

Report

(3 results)
  • 1990 Annual Research Report   Final Research Report Summary
  • 1989 Annual Research Report
  • Research Products

    (6 results)

All Other

All Publications (6 results)

  • [Publications] 浅見 聡,佐々木 健: "複数の音源位置同定による対象物の表面形状検出法の開発" 第8回日本ロボット学会学術講演会論文集. 401-402 (1990)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1990 Final Research Report Summary
  • [Publications] 佐々木 健: "反射面の音響的インパルス応答の測定による反射面形状の推定" 平成2年度精密工学会春季大会学術演会論文集. (1991)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1990 Final Research Report Summary
  • [Publications] Satoshi ASAMI, Ken SASAKI: "Recognition of Surface Shape by Detecting Positions of Multiple Sound Source" Preprint of 8th RSJ Annual Conference. 401-402 (1990)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1990 Final Research Report Summary
  • [Publications] Ken SASAKI: "Estimation of Surface Shape by Measuring Acoustic Impulse Response of the Surface" Preprint of JSPE Annual Conference.

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1990 Final Research Report Summary
  • [Publications] 浅見 聡,佐々木 健: "複数の音源位置同定による対象物の表面形状検出法の開発" 第8回ロボット学会学術講演会論文集. 401-402 (1990)

    • Related Report
      1990 Annual Research Report
  • [Publications] 佐々木 健: "反射面の音響的インパルス応答の測定による反射面形状の推定" 平成2年度精密工学会春季大会学術講演会論文集. (1991)

    • Related Report
      1990 Annual Research Report

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Published: 1989-04-01   Modified: 2016-04-21  

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