| Project/Area Number |
06044020
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| Research Category |
Grant-in-Aid for international Scientific Research
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| Allocation Type | Single-year Grants |
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| Section | Joint Research |
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| Research Institution | Tohoku University |
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Principal Investigator |
UCHIYAMA Masaru ohoku University, Department of Engineering, Professor, 工学部, 教授 (30125504)
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| Co-Investigator(Kenkyū-buntansha) |
ピエロ フランソワ モンペリエII大学, 情報学ロボッティクス及びマイクロエレクトロニクス研究所, CNRS研究員
ドシェ ピエール モンペリエII大学, 情報学ロボッティクス及びマイクロエレクトロニクス研究所, CNRS上級研究員
ABE Koyu Tohoku University, Department of Engineering,, 工学部, 教務職員 (80261600)
TSUMAKI Yuichi Tohoku University, Department of Engineering, Assistant, 工学部, 助手 (50270814)
KONNO Atsushi University of Tokyo, Department of Engineering, Assistant, 工学部, 助手 (90250688)
NENCHEV Dragomir Tohoku University, Department of Engineering, Associate Professor, 工学部, 助教授 (80270809)
PIERROT Francois University of Montpellier, Institute of Information Science, Robotics and Microe
DAUCHEZ Pierre University of Montpellier, Institute of Information Science, Robotics and Microe
フランソワ ピエロ モンペリエII大学情報学ロボティクス及びマイクロエレクトロニクス研究所, CNRS研究者
ピエール ドシェ モンペリエII大学情報学ロボティクス及びマイクロエレクトロニクス研究所, CNRS上級研究者
ドゥラゴミール ネンチェ 東北大学, 工学部, 助教授
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| Project Period (FY) |
1994 – 1995
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| Project Status |
Completed (Fiscal Year 1995)
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| Budget Amount *help |
¥6,200,000 (Direct Cost: ¥6,200,000)
Fiscal Year 1995: ¥3,100,000 (Direct Cost: ¥3,100,000)
Fiscal Year 1994: ¥3,100,000 (Direct Cost: ¥3,100,000)
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| Keywords | HEXA mechanism / Parallel robot / Closed-loop mechanism / Singularity / Dynamic control / Compliance control |
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| Research Abstract |
(1)High Speed Motion
The possibility for high speed motion has been evaluated using a bench-mark test motion, which we called ADEPT motion, after the name of the ADEPT robot which has been acknowledged to be the fastest industrial robot. The HEXA robot achieved one-cycle ADEPT motion performance within 0.465 seconds. The acceleration along the Z axis was 27.8G.
(2)High Accuracy Dynamic Path Tracking
Accurate dynamic path tracking has been tested. We used two approaches based on : a simple dynamic model, and a feedforward velocity component. As a result, it was confirmed that both approaches guarantee high accuracy path tracking. However, the latter approach is preferable, since it requires less computations than the former.
(3)Compliance Control Without Force Sensor
Since the HEXA is equipped with DD motors, it was possible to implement compliance control with using a force sensor. We achieved the desired performance, using also a novel approach for friction compensation.
(4)Path Planning Through Singular Points
A newly proposed singularity-consistent path planning and control method has been implemented and tested.
(5)Proposal of a New Type HEXA
Based on the results of our research, we propose a new design for HEXA.The ultimate goal is to increase the maximum speed and achive accleration up to 50 G.
(6)Organized Session at MIMR
A special session on parallel robots was organized by prof. M.Uchiyama at the International Symposium on Microsystems, Intelligent Materials and Robots, Sendai, Japan, Sept. 27-29,1995
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