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A Computer Controller for Performing Autonomous Functions

Research Project

Project/Area Number 03650211
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 InstitutionHIROSHIMA UNIVERSITY

Principal Investigator

YAMAGATA Keiichi  Hiroshima University,Dept,of Information Science,Professor, 総合科学部, 教授 (90029992)

Co-Investigator(Kenkyū-buntansha) 塩谷 景一  三菱電機(株), 産業システム研究所, 主事研究員
HARADA K  Hiroshima University,Dept.of Information Science,Associate Professor, 総合科学部, 助教授 (90124114)
SHIOTANI K  Mitsubishi Electric Corporation,Research Staff
Project Period (FY) 1991 – 1992
Project Status Completed (Fiscal Year 1992)
Budget Amount *help
¥2,100,000 (Direct Cost: ¥2,100,000)
Fiscal Year 1992: ¥800,000 (Direct Cost: ¥800,000)
Fiscal Year 1991: ¥1,300,000 (Direct Cost: ¥1,300,000)
KeywordsControl of machines / Geometric modeling / Configuration space / Trajectory planning / Computer controller / ATMS / 自律系 / コンピュ-タコントロ-ラ / 協調型問題解沢 / 制約指向
Research Abstract

1. In order to implement the autonomous functions of manipulators and NC machine tools in a manufacturing cell, the geometric models of working environment are required. We proposed the efficient method for real-time processing, where the simple polyhedral geometric models and the detailed ones are cooperatively used. 2. For trajectory planning of articulated manipulators in real-time, the new method of obstacle avoidance was proposed. In the configuration space, path planning is executed by only using the collision points and potentials: and in the model of three dimensional space only collision detection is executed. Using these two spaces jointly, rough motion planning is implemented efficiently. 3. Finding the characteristics of free form shapes was studied, which is helpful to autonomous generation of cutter paths. 4. An Assumption Based Truth Maintenance System was experimentally developed. We are now investigating the effectiveness of this system for logical inference of general planning problems.

Report

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

    (10 results)

All Other

All Publications (10 results)

  • [Publications] K.YAMAGATA,A.ISEKI,M.MIYANO: "Roles of Computer Controllers in Manufacturing Cells for Performing Autonomous Functions" Proc of the IMACS/SICE Int.Symp.on RMMS. 273-278 (1992)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1992 Final Research Report Summary
  • [Publications] 鳩野 逸生,鈴鹿 哲也,山縣 敬一,田村 坦之: "ファジィ推論を用いたフレキシブル生産スケジューリング" 日本ファジィ学会誌. Vol.3No.2. 339-346 (1991)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1992 Final Research Report Summary
  • [Publications] 原田 耕一,森山 真光: "3次補間曲線に対する近似曲線としての非有理2次Bezier曲線と円弧補間曲線との比輔" 電子情報通信学会論文誌. (1993)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1992 Final Research Report Summary
  • [Publications] K. Yamagata, A. Iseki and M. Miyano: "Roles Computer Controllers in Manufacturing Cells for Performing Autonomous Functions" Proc. of the IMACS/SICE Int. Symp. on RMMS. 273-278 (1992)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1992 Final Research Report Summary
  • [Publications] I. Hatono, T. Suzuka, K. Yamagata and H. Tamura: "Scheduling of Flexible Manufacturing Systems Using Fuzzy Inference (in Japanese)" J. of Japan Society for Fuzzy Theory and Systems. Vol.3, No.2. 339-346 (1991)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1992 Final Research Report Summary
  • [Publications] K. Harada and M. Moriyama: "Non-Rational Quadratic Bezier Curves and Circular Interpolation for Approximation of Cubic Curves (in Japanese)" Trans. of the IEICE Japan. (1993)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1992 Final Research Report Summary
  • [Publications] K.Yamagata, A.Iseki,M.Miyano: "Roles of Computer Controllens in Manufacturing Cells for Performing Autonomous Functions" Proc. of the IMACS/SICE Int. Symp. on RMMS. 273-278 (1992)

    • Related Report
      1992 Annual Research Report
  • [Publications] 原田 耕一 森山 真光: "3次補間曲線に対する近似曲線としての非有理2次Bezier曲線と円孤補間曲線との比較" 電子情報通信学会論文誌 vol.-DII. (1993)

    • Related Report
      1992 Annual Research Report
  • [Publications] 長尾嘉 祐,山縣 敬一: "機械設計支援における制約充足モデルと定性的評価機構" 情報処理学会論文誌.

    • Related Report
      1991 Annual Research Report
  • [Publications] K.YAMAGATA et al: "Roles of Computer Controllers in Manufacturing Cells for Performing Autonomous Fumetions" Proc.IMACS/SICE Int.Symposium on Robotics,Mechatronics and Manufacturing Systems.

    • Related Report
      1991 Annual Research Report

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

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