| Project/Area Number |
09650289
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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 | Yokohama National University |
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Principal Investigator |
TODO Isao Yokohama National University, Faculty of Engineering, Professor, 工学部, 教授 (70017888)
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| Co-Investigator(Kenkyū-buntansha) |
HUANG Jian Yokohama National University, Faculty of Engineering, Assistant, 工学部, 助手 (10282956)
OKUMA Michio Yokohama National University, Faculty of Engineering, Lecturer, 工学部, 講師 (60213667)
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| Project Period (FY) |
1997 – 1998
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| Project Status |
Completed (Fiscal Year 1998)
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| Budget Amount *help |
¥3,500,000 (Direct Cost: ¥3,500,000)
Fiscal Year 1998: ¥500,000 (Direct Cost: ¥500,000)
Fiscal Year 1997: ¥3,000,000 (Direct Cost: ¥3,000,000)
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| Keywords | Measurement and Control / Robotics / Mechatronics / Direct-Drive Robot / Intelligent Robot / Cooperative Control / Visual Feedback / Image Processing |
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| Research Abstract |
Direct-drive (DD) robots are known for having high precise motion. However, DD motors are large and heavy and consequently 6 degrees-of-freedom (DOF) DD robot itself turns large and heavy, In the previous researches, a 6 DOF DD robot composed by a translational 3 DOE arm robot and a rotational 3 DOE table robot was proposed by Todo et al. From the present research, it has been possible to enlarge the applicability range of this robot.
1. A neural-network (NN) based intelligent cooperative control method is developed to the redundancy resolution of a 7 DOF robot (1 redundant DOF). By assigning the extra DOF to the robot, it is possible to execute sub-tasks such as (a) obstacle avoidance, and (b) the selection of the position and orientation inherent in the specific task.
2. An on-line trajectory generation system based on vision data from a CCD camera fixed on the robot arm is proposed. in this method, a wide range image is acquired and motion of the robot end-effector during the on-line image processing is taken into account. A cylinder with a desired trajectory drawn on its surface is fixed on the table robot in experiment, Using the proposed method, task of moving the end-effector along the trajectory with applying a constant force on surface of the cylinder during tracking is performed.
3. A teleoperation method of a 7 DOF slave robot is developed and peg-in-hole experiments are carried out. A bilateral control system is configured in order to provide the operator with force sensibility, In the present research, a fixed joint selection method is proposed for redundancy resolution.
4. A shape recognition method for an arbitrary polygonal object fixed on the table robot and an off-line trajectory generation method are proposed and the effectiveness has been experimentally demonstrated.
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