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A Study on Reducing the degree-of-freedom of a Mobile Manipulator Mounted on an Omni-Directional Mobile Base

Research Project

Project/Area Number 08650305
Research Category

Grant-in-Aid for Scientific Research (C)

Allocation TypeSingle-year Grants
Section一般
Research Field Intelligent mechanics/Mechanical systems
Research InstitutionTohoku University

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)

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)
Project Period (FY) 1996 – 1997
Project Status Completed (Fiscal Year 1997)
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)
KeywordsMobile Manipulator / Omni-Direction / Open and Close a Door / Passive Joint / Kinematics / Wheeled Mobile Robot / Indoor Work / Messenger Robot
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.

Report

(3 results)
  • 1997 Annual Research Report   Final Research Report Summary
  • 1996 Annual Research Report
  • Research Products

    (30 results)

All Other

All Publications (30 results)

  • [Publications] Y.Mori, E.Nakano et al.: "A study on the Mechanism and Control ofOmni-Directioal Vehicle" Proc.of the 1996 IEEE/RSJ Int.Conf.on Intellignet Robots and Systems. 1. 52-59 (1996)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1997 Final Research Report Summary
  • [Publications] K.Hanada, T.Takahashi, E.Nakano: "Software Architecture for Constructinga Mobile Robot with Highly Independnet Modules" Fourth Int.Conf.on Control,Automation,Tobotics and Vision. 2. 858-862 (1996)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1997 Final Research Report Summary
  • [Publications] 佐々木 博之、高橋 隆行、中野 栄二: "全方向移動ロボットを利用した受動的ドア開け手法の軌道の検討" 第14回日本ロボット学会学術講演会予稿集. 1. 385-386 (1996)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1997 Final Research Report Summary
  • [Publications] 花田 恵太郎、高橋 隆行、中野 栄二: "イベント通信を用いた屋内環境移動ロボットの移動制御" 第14回日本ロボット学会学術講演会予稿集. 1. 363-364 (1996)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1997 Final Research Report Summary
  • [Publications] 高橋 隆行、中野 栄二、et al.: "メッセンジャロボットによる部屋間移動の実現" ロボティクス・メカトロニクス講演会'96. 471-476 (1996)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1997 Final Research Report Summary
  • [Publications] 高山 訓治、森 善一、et al.: "メッセンジャロボットの運動構成について" ロボティクス・メカトロニクス講演会'96. 473-476 (1996)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1997 Final Research Report Summary
  • [Publications] 森、中野、高橋、高山: "新しい全方向移動台車ODV9の機構とその走行モードについて" 日本機械学会論文集C編. (掲載予定). (1998)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1997 Final Research Report Summary
  • [Publications] 花田、高橋、中野、宮下: "モジュラリティの高いロボットシステムのためのソフトウエアアーキテクチャ" 日本ロボット学会誌. (掲載予定). (1998)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1997 Final Research Report Summary
  • [Publications] 森、佐々木、高橋、中野: "全方向移動台車ODV9の段差移動に関する研究" 第15回日本ロボット学会学術講演会予稿集. 3. 841-842 (1997)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1997 Final Research Report Summary
  • [Publications] 佐々木、高橋、中野: "受動関節を有する移動マニピュレータによるドア開けの手法の対向2輪車への摘要" 第15回日本ロボット学会学術講演会予稿集. 3. 845-846 (1997)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1997 Final Research Report Summary
  • [Publications] Y.Mori, E.Nakano, T.Takahashi and K.Takayama: ""A study on the Mechanism and Control of Omni-Directional Vehicle"" Proc.of the 1996 IEEE/RSJ Int.Conf.on Intelligent Robots and Systems. no.1. 52-59 (1996)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1997 Final Research Report Summary
  • [Publications] K.Hanada, T.Takahasi and E.Nakano: ""Software Architecture for Constructing a Mobile Robot with Highly Independent"" Proc.of the Fourth Int.Conf.on Control, Automation, Robotics and Vision Modules. no.2. 858-862 (1996)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1997 Final Research Report Summary
  • [Publications] H.Sasaki, T.Takahashi and E.Nakano: ""A Study on Door Opening by a Passive Method Utilizing an Omni-Directional Vehicle"" Proc.of the 14th Annual Conference of Robotics Society of Japan. no.1. 385-386 (1996)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1997 Final Research Report Summary
  • [Publications] K.Hanada, T.Takahashi and E.Nakano: ""Behavior Control for Indoor Autonomous Mobile Robots Using an Event Communication"" Proc.of the 14th Annual Conference of Robotics Society of Japan. no.1. 363-364 (1996)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1997 Final Research Report Summary
  • [Publications] T.Takahashi, E.Nakano and et al.: ""Door to Door Motion of the Messenger Robot"" Proc.of JSME,the Annual Conference on Robotics and Mechatronics. no.B. 471-472 (1996)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1997 Final Research Report Summary
  • [Publications] K.Takayama, Y.Mori, T.Takahashi and E.Nakano: ""On Motion Synthesis of a Messenger Robot"" Proc.of JSME,the Annual Conference on Robotics and Mechatronics. no.B. 473-476 (1996)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1997 Final Research Report Summary
  • [Publications] Y.Mori, E.Nakano, T.Takahashi and K.Takayama: ""Mechanism and Running Modes of New Omni-Directional Vehicle ODV9"" J.of JSME. (to appear). (1998)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1997 Final Research Report Summary
  • [Publications] K.Hanada, T.Takahashi, E.Nakano and T.Miyasita: ""Software Architecture for High Modularity Robot System"" J.of RSJ. (to appear). (1998)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1997 Final Research Report Summary
  • [Publications] Y.Morl, T.Takahashi and E.Nakano: ""A Study on Getting over a Step by Omni-Directional Vehicle, ODV9"" Proc.of the 15th Annual Conference of Robotics Society of Japan. no.3. 841-842 (1997)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1997 Final Research Report Summary
  • [Publications] H.Sasaki, T.Takahashi and E.Nakano: ""An Application of Door Opening Method by a Mobile Manipulator with Passive Joints to a Power Wheeled Steering Vehicle"" Prow.of the 15th Annual Conference of Robotics Society of Japan. no.3. 845-846 (1997)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1997 Final Research Report Summary
  • [Publications] 森, 中野, 高橋, 高山: "新しい全方向移動台車ODV9の機構とその走行モードについて" 日本機械学会論文集C編. (掲載予定). (1998)

    • Related Report
      1997 Annual Research Report
  • [Publications] 花田, 高橋, 中野, 宮下: "モジュラリティの高いロボットシステムのためのソフトウエアアーキテクチャ" 日本ロボット学会誌. (掲載予定). (1998)

    • Related Report
      1997 Annual Research Report
  • [Publications] 森, 佐々木, 高橋, 中野: "全方向移動台車ODV9の段差移動に関する研究" 第15回日本ロボット学会学術講演会予稿集. 3. 841-842 (1997)

    • Related Report
      1997 Annual Research Report
  • [Publications] 佐々木, 高橋, 中野: "受動関節を有する移動マニピュレータによるドア開け手法の対向2輪車への適用" 第15回日本ロボット学会学術講演会予稿集. 3. 845-846 (1997)

    • Related Report
      1997 Annual Research Report
  • [Publications] Y.Mori, E.Nakano et al.: "A study on the Mechanical and Control of Omni-Directional Vehicle" Proc.of the 1996 IEEE/RSJ Int.Conf.on Intelligent Robots and Systems. 1. 52-59 (1996)

    • Related Report
      1996 Annual Research Report
  • [Publications] K.Hanada, T.Takahashi, E.Nakano: "Software Architecture for Constructing a Mobile Robot with Highly Independent Modules" Fourth Int.Conf.on Control, Automation, Robotics and Vision. 2. 858-862 (1996)

    • Related Report
      1996 Annual Research Report
  • [Publications] 佐々木 博之,高橋 隆行,中野 栄二: "全方向移動ロボットを利用した受動的ドア開け手法の軌道の検討" 第14回日本ロボット学会学術講演会予稿集. 1. 385-386 (1996)

    • Related Report
      1996 Annual Research Report
  • [Publications] 花田 恵太郎,高橋 隆行,中野 栄二: "イベント通信を用いた屋内環境移動ロボットの移動制御" 第14回日本ロボット学会学術講演会予稿集. 1. 363-364 (1996)

    • Related Report
      1996 Annual Research Report
  • [Publications] 高橋 隆行,中野 栄二,et al.: "メッセンジャロボットによる部屋間移動の実現" ロボティクス・メカトロニクス講演会'96. 471-472 (1996)

    • Related Report
      1996 Annual Research Report
  • [Publications] 高山 訓治,森 善一,高橋 隆行,中野 栄二: "メッセンジャロボットの運動構成について" ロボティクス・メカトロニクス講演会'96. 473-476 (1996)

    • Related Report
      1996 Annual Research Report

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Published: 1996-04-01   Modified: 2016-04-21  

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