| Project/Area Number |
05402043
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| Research Category |
Grant-in-Aid for General Scientific Research (A)
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| Allocation Type | Single-year Grants |
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| Research Field |
計測・制御工学
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| Research Institution | KYUSHU UNIVERSITY |
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Principal Investigator |
NAGATA Tadashi Kyushu Univ., Dept.of CSCE Professor., 工学部, 教授 (20136542)
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| Co-Investigator(Kenkyū-buntansha) |
TAN Rantei Kyushu Univ., Dept.of CSCE Research Asso, 工学部, 助手 (20243917)
OKADA Nobihiro Kyushu Univ., Dept.of CSCE Research Asso, 工学部, 助手 (80224020)
KIMURO Yosihiko Kyushu Univ., Dept.of CSCE Research Asso, 工学部, 助手 (30205009)
ZHA Hongbin Kyushu Univ., Dept.of CSCE Associate Professor, 工学部, 助教授 (80225680)
HASEGAWA Tutomu Kyushu Univ., Dept.of CSCE Professor., 工学部, 教授 (00243890)
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| Project Period (FY) |
1993 – 1994
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| Project Status |
Completed (Fiscal Year 1994)
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| Budget Amount *help |
¥32,600,000 (Direct Cost: ¥32,600,000)
Fiscal Year 1994: ¥4,300,000 (Direct Cost: ¥4,300,000)
Fiscal Year 1993: ¥28,300,000 (Direct Cost: ¥28,300,000)
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| Keywords | Multt-agent / Task-generation / Parts oriented planning / Mobile robot / Motion planning / Multi-vision system / Distributed vision system / Cooperative control |
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| Research Abstract |
(1) Studies on a parts-oriented-type cooperative planning system :
On the basis of the concept of autonomy and distribution, we proposed a method for the problem of automatically generating motion sequences in an assembly task. Parts, manipulators and work-tables are handled as "agents" respectively in this system. Part-agents autonomously behave under the local information and try to achive the goal of the system by negotiating each other. Moreover, we deviced a method for dealing with accidents happended in putting a plan into practice
(2) Robot Motion Planning Based on Space Analysis and Behavior Observation :
A new method of the collision avidance has been proposed for two mobile robots in a narrow passage cluttered with unezpected obstacles. The behavior observation of another robot and the surrounding space analysis effectively enable to plan a safe path without any negotiation through a communication link. An intelligent manipulation system has been developed for a manipulator equi
… More
pped with a parallel two-fingered gripper which can pick, place slide and rotate an object. The plannining method of a mobile robot equipped with a manipulator has been developed.
(3) Recognizing and measuring 3-D objects by using a multi-vision system :
Developing an active vision system which integrates information from different kinds of sensors such as CCD cameraa and Laser range finders, we performed a practical parts picking task. Moreover, designing a cooperative algorithm for multiple procesures of recognizing objects in an omni-directional image, we clarified the effectiveness in an experiment.
(4) Cooperative control of multiple manipulators based on exchanging information :
As far as the tasks of transfering and replacing parts with multiple manipulators are concerned, we gave a solution for extended task planning problem such as the determination of the position and the orientation of parts under various situation, and made a study on the handling tasks such as pushing and rolling a part, and developed a cooperative algorithm with a flexible and reliable excellence. Less
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