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"CONSTRUCTION AND CONTROL OF ROBOT MANIPULATORS BASED ON AUTONOMOUS SPACE INFORMATION"

Research Project

Project/Area Number 03452134
Research Category

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

Allocation TypeSingle-year Grants
Research Field 機械力学・制御工学
Research InstitutionTOHOKU UNIVERSITY

Principal Investigator

HAKOMORI Kyojiro  TOHOKU UNIVERSITY, FACULTY OF ENGINEERING, PROFESSOR, 工学部, 教授 (20005242)

Co-Investigator(Kenkyū-buntansha) YOSHII Kazuo  ISHINOMAKI-SENSHU UNIV., FAC.OF SCI.& ENGNG., RESEARCH ASSOCIATE, 理工学部, 助手 (70108463)
IZAWA Yoshiaki  TOHOKU UNIVERSITY, FACULTY OF RESEARCH ASSOCIATE, 工学部, 助手 (00143016)
UCHIYAMA Masaru  TOHOKU UNIVERSITY, FACULTY OF ENGINEERING, PROFESSOR, 工学部, 教授 (30125504)
Project Period (FY) 1991 – 1993
Project Status Completed (Fiscal Year 1993)
Budget Amount *help
¥6,100,000 (Direct Cost: ¥6,100,000)
Fiscal Year 1993: ¥1,800,000 (Direct Cost: ¥1,800,000)
Fiscal Year 1992: ¥2,000,000 (Direct Cost: ¥2,000,000)
Fiscal Year 1991: ¥2,300,000 (Direct Cost: ¥2,300,000)
KeywordsAUTONOMOUS SPACE INFORMATION / INERTIAL SENSORS / ACCELERATION AND ANGULAR VELOCITY / POSITION AND POSTURE SENSING / MODEL-BASED SENSING / ROBOT CONTROL / MANIPULATOR WORK / ASIC / 単位動作 / ソフトウェアエンコーダ / モデルベースドセンシング / マニピュレ-タ作業 / モデルベ-スドセンシング / 知的センシング
Research Abstract

Apossibility to measure the position and posture of a robot manipulator by the inertial navigation principle and to control the manipulator directly by the autonomous space information obtained has been studied and proved to be effective. 1. As the inertial sensors, "multi-sensors" have been adopted because of their reasonable 6-axs specifications including the detection of angular motions. 2. The real motion of robot manipulators consists of a smooth work motion and impulsive noisy excitations. In order to get the correct value of the hand position through double integration of the detected acceleration signal, the dynamic range of the sensing must be sufficiently large. The proposed system includes fast 16-bits A/D converters. The effect of main factors to prevent a precise measurement have been studied and corrected. 3. At present, a position accuracy of (〕SY.+-.〔)1 or (〕SY.+-.〔)2 percents is achieved for the case of moderately accelerating motion(2g p-p) or slowly one(0.2g p-p), respectively, in measuring the motion of the robot hand during a stroke work of several seconds. The completion of the whole 6-axs system is the next problem. 4. A method of constructin of position sensing platforms with sensor redundancy has been proposed and proved to be effective by simulations. 5. A control method of manipulators based on the autonomousspace information obtained has been studied. considering the zero stability of the position measurement, it has been proposed that a robotic work/job isdivided into successive several units, each of which includes a nest position where the initial set up of the integrators are to be done. 6. It is highly desirable to realize the functions of the above signal processing in an ASIC.It is also an important future problem to seek possibilities to use acceleration sensors made by micro-maching processes with appropriate angular sensors.

Report

(4 results)
  • 1993 Annual Research Report   Final Research Report Summary
  • 1992 Annual Research Report
  • 1991 Annual Research Report
  • Research Products

    (12 results)

All Other

All Publications (12 results)

  • [Publications] 深谷佳文,井澤義明,箱守京次郎: "マルチセンサによるロボットハンドの自律位置センシング(2次元)" 計測自動制御学会.

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1993 Final Research Report Summary
  • [Publications] 黒川純一,内山勝,箱守京次郎: "冗長性をもつ慣性センサを用いた位置センシングプラットフォームの構成に関する研究" 計測自動制御学会.

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1993 Final Research Report Summary
  • [Publications] 井澤義明,今場基浩,箱守京次郎: "マルチセンサによるロボットハンドの自律位置センシング(3次元)" 計測自動制御学会.

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1993 Final Research Report Summary
  • [Publications] 奥山敦,井澤義明,箱守京次郎: "ハンド位置情報によるマニピュレータの知的制御に関する研究" 日本ロボット学会.

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1993 Final Research Report Summary
  • [Publications] 箱守京次郎,井澤義明,今場基浩,奥山敦: "自律空間情報に基づくロボットマニピュレータの構成と制御" 日本ロボット学会.

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1993 Final Research Report Summary
  • [Publications] Y.FUKAYA, Y.IZAWA, AND K.HAKOMORI: "AUTONOMOUS POSITION SENSING OF A ROBOT HAND BY A MULTI-SENSOR (2-DIMENSIONAL CASE)." SICE.

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1993 Final Research Report Summary
  • [Publications] J.KUROKAWA, M.UCHIYAMA, AND K.HAKOMORI: "CONSTRUCTION OF POSITION SENSING PLATFORMSUSING INERTIAL SENSORS WITH REDUNDANCY." SICE.

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1993 Final Research Report Summary
  • [Publications] Y.IZAW, M.KONBA, AND K.HAKOMORI: "AUTONOMOUS POSITION SENSING OF A ROBOT HAND BY MULTI-SENSORS (3-DIMENSIONAL CASE)" SICE.

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1993 Final Research Report Summary
  • [Publications] A.OKUYAMA, Y.IZAWA, AND K.HAKOMORI: "INTELLIGENT CONTROL OF ROBOT MANIPULATORS BASED ON HAND POSITION INFORMATION." ROBOTICS SOC.JPN.

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1993 Final Research Report Summary
  • [Publications] K.HAKOMORI, Y.IZAWA, M.KONBA, AND A.OKUYAMA: "CONSTRUCTION AND CONTROL OF ROBOT MANIPULATORS BASED ON AUTONOMOUS SPACE INFORMATION." ROBOTICS SOC.JPN.

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1993 Final Research Report Summary
  • [Publications] 村上 敦 ほか2名: "慣性センサによるマニピュレ-タ領域での自律運動計測" 計測自動制御学会にて発表. (1992)

    • Related Report
      1991 Annual Research Report
  • [Publications] 箱守 京次郎 ほか2名: "マニピュレ-タハンドの自律空間情報の知的センシング" 日本ロボット学会にて発表. (1992)

    • Related Report
      1991 Annual Research Report

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Published: 1991-04-01   Modified: 2016-04-21  

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