| Project/Area Number |
08650305
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
Intelligent mechanics/Mechanical systems
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| Research Institution | Tohoku University |
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Principal Investigator |
NAKANO Eini Tohoku University, Graduate School of Information Sciences, Professor, 大学院・情報科学研究科, 教授 (90198151)
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| Co-Investigator(Kenkyū-buntansha) |
SASAI Hiroyuki Tsuruoka National College of Technology, Dept.of Mechanical Engineering, Researc, 機械工学科, 助手 (30290703)
WANG Zhi-Dong Tohoku University, Graduate School of Information Sciences, Research Associate, 工学部, 助手 (40272017)
OOKUBO Hiroki Tohoku University, Graduate School of Information Sciences, Research Associate, 大学院・情報科学研究科, 助手 (00250689)
TAKAHASHI Takayuki Tohoku University, Graduate School of Information Sciences, Associate Professor, 大学院・情報科学研究科, 講師 (70197151)
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| Project Period (FY) |
1996 – 1997
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| Project Status |
Completed (Fiscal Year 1997)
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| Budget Amount *help |
¥2,200,000 (Direct Cost: ¥2,200,000)
Fiscal Year 1997: ¥900,000 (Direct Cost: ¥900,000)
Fiscal Year 1996: ¥1,300,000 (Direct Cost: ¥1,300,000)
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| Keywords | Mobile Manipulator / Omni-Direction / Open and Close a Door / Passive Joint / Kinematics / Wheeled Mobile Robot / Indoor Work / Messenger Robot |
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| Research Abstract |
(1) The possibility of the open-close motion of a door and its verification The strategy which was examined in this research is as follows : After the grasping motion on the knob of the door by the robot hand, one makes the wrist and base joints free and the others lock. Then the robot arm seems to have a rigid link with two free joints attached at both end points. After that, all the system which includes the wall, door, robot arm and the mobile base are taken as a three-link system. If the terminal point of the three-link system can move freely, the door will be able to move without any internal forces. We verified the idea through several computer simulations and confirmed by experiments using a robot arm mounted on an omni-directional vehicle developed by the investigators.
(2) An investigation about the path of the mobile base We made an investigation into the path where the mobile base should take to achieve the above strategy. The path of the mobile base is subject to the different constraints, e.g.mechanical, geometrical and kinematical. These constraints yields the relation of forces between the load and the base, and determines the location between the obstacles and the mobile base. The latter is derive from the mobile base being governed by non-holonomic constraints. A path which satisfies the above constraints should be generated in real-time, based on several sensors information. To verify this, we assumed three circumstances without losing the generality. We examined by placing one obstacle at the door's left side and one behind it, then one is placed on the right side and one on the left side, and finally one behind the door and one on the right side (See Figure below). The results show that the required paths can be obtained under the specified circumstances.
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