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Dynamics Analysis on Underwater Articulated Structure without Parameter Estimation

Research Project

Project/Area Number 13450107
Research Category

Grant-in-Aid for Scientific Research (B)

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

Principal Investigator

KAWAMURA Sadao  Ritsumeikan Univ., Fac.Science and Engineering, Professor, 理工学部, 教授 (20186141)

Co-Investigator(Kenkyū-buntansha) ICHII Hiroaki  Nara National College of Technology, Department of Control Engineering, Assistant, 助手 (40300602)
KINO Hitoshi  Fukuoka Institute of Technology, Fac.Scienre and Engineering, Lecturer, 工学部, 講師 (50293816)
ISAKA Tadao  Ritsumeikan Univ., Fac.Scienre and Engineering, Assistant Professor, 理工学部, 助教授 (30247811)
Project Period (FY) 2001 – 2002
Project Status Completed (Fiscal Year 2002)
Budget Amount *help
¥13,800,000 (Direct Cost: ¥13,800,000)
Fiscal Year 2002: ¥4,800,000 (Direct Cost: ¥4,800,000)
Fiscal Year 2001: ¥9,000,000 (Direct Cost: ¥9,000,000)
KeywordsUnderwater motions / Iterative learning control / Time scale transformation / Joint toraue / Parallel wire driven system
Research Abstract

In this research, we propose a new method of dynamics analysis on joint torques of human arms and robot manipulators in underwater environments without parameter estimation. The research results are summarized as follow:
[1] Iterative learning control for underwater robot manipulators
The effectiveness of iterative learning control was verified theoretically and experimentally. The single and three degrees of freedom underwater manipulators were utilized in the experiments. As a result, the, motion of the robots in the water was realized as precisely as that in the air.
[2] Dynamics analysis on underwater robot manipulators based on learning control and time-scale transformation
In the proposed method, hydrodynamic terms such as added mass and drag and buoyancy were quantitatively evaluated without using parameter identification. Dynamics analysis on the single and three degrees of freedom manipulators was realized experimentally. The feedforward inputs for the manipulator control were for … More med from the method.
[3] Measurement of joint torques of human motions using parallel wire driven systems
We developed a parallel wire driven system for the measurements of joint torque of human motions. By using the system, the joint torque was precisely measured and the maximum error is within 0.2[Nm].
[4] Iterative learning control for parallel wire driven systems
The effectiveness of iterative learning control for parallel wire driven systems was verified theoretically and experimentally. Numerical simulations and experimental results showed the effects of the control performance.
[5] Measurements of joint torques for arbitrary human motions
Measurements of joint torques for arbitrary human motions were realized by the proposed method based on the parallel wire driven system and the iterative learning control. The validity was verified by some experiments.
[6] Measurement of joint torques of human motions in underwater environment using parallel wire driven systems
Measurements of joint torques for human motions in underwater environments were realized by the method based on the parallel-wire driven system and iterative learning control. In the method, hydrodynamic torques such as added mass and drag and buoyancy acting on human arms were quantitatively evaluated. Less

Report

(3 results)
  • 2002 Annual Research Report   Final Research Report Summary
  • 2001 Annual Research Report
  • Research Products

    (78 results)

All Other

All Publications (78 results)

  • [Publications] 木野 仁, 矢部 茂, 古谷了, 川村 貞夫: "シリアルリンク機構/パラレルワイヤ駆動システムによる力覚提示装置の開発"日本バーチャルリアリティ学会誌. 7巻, 1号. 3-8 (2002)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] Sadao Kawamura, Norimitsu Sakagami: "Analysis on Dynamics of Underwater Robot Manipulators basing on Iterative Learning Control and Time-Scale Transformation"IEEE International Conference on Robotics and Automation 2002. Vol.2. 1088-1094 (2002)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] Hitoshi Kino, Sadao Kawamura: "Development of A Serial Link Structure / Parallel Wire System for A Force Display"IEEE International Conference on Robotics and Automation 2002. Vol.1. 829-834 (2002)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] Norimitsu Sakagami, Manabu Inoue, Sadao Kawamura: "Theoretical and experimental studies on iterative learning control for underwater robots"International Society of Offshore and Polar Engineering. Vol.2. 295-300 (2002)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] Norimitsu Sakagami, Sadao Kawamura: "Analysis on dynamics of 3-DOF underwater robot manipulators based on time-scale transformation"JAPAN-USA Symposium on Flexible Automation. Vol.3. 1139-1145 (2002)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] H.Kino, S.Yabe, S.Kawamura: "Sensor Feedback positioning control for a robot with serial-link structure driven by parallel-wire mechanism"JAPAN-USA Symposium on Flexible Automation. Vol.3. 1133-1138 (2002)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] 坂上 憲光, 井上 学, 川村 貞夫: "水中ロボットマニピュレータの繰返し学習制御に関する理論的考察と実験的検証"日本造船学会論文集. 193号. 411-417 (2002)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] Norimitsu Sakagami, Manabu Inoue, Sadao Kawamura: "Theoretical and Experimental Studies on Iterative Learning Control for Underwater Robots"International Journal of Offshore and Polar Engineering. Vol.13, No.2. 120-127 (2003)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] 坂上 憲光, 川村 貞夫: "時間軸変換を利用した水中ロボットマニピュレータのフィードフォワード入力生成"日本ロボット学会誌. Vol.21, No.5. 562-568 (2003)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] Norimitsu Sakagami, Sadao Kawamura: "Time Optimal Control for Underwater Robot Manipulators Based on Iterative Learning Control and Time-Scale Transformation"Proceedings of OCEANS 03 Conference. 1180-1186 (2003)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] H.Kino, S.Yabe, N.Honjo, S.Kawamura: "Sensor-Actuator Map for Organization of Position Sensor Feedback Control for Multiple Links Structure/Wire Driven System"Proceedings of International Conference on Advanced Information Networking and Applications. (印刷中). (2003)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] 坂上 憲光, 石原 厚志, 長澤 伸之介, 中原 義光, 太田 悟司, 川村 貞夫: "アームを有する小型潜水ロボットの高機能化"ロボティクス・メカトロニクス講演会'01講演論文集. 1P1-L4 (2001)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] 木野 仁, 矢部 茂, 川村 貞夫: "シリアルリンク機構/パラレルワイヤ駆動システムによる力覚提示装置の開発"第19回日本ロボット学会学術講演会. 1E14 (2001)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] 坂上 憲光, 井上 学, 吉崎 武史, 川村 貞夫: "水中ロボットマニピュレータの流体ダイナミクス解析"第19回日本ロボット学会学術講演会. 1N35 (2001)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] 坂上 憲光, 井上 学, 吉崎 武史, 川村 貞夫: "繰り返し学習制御と時間軸変換を利用した3自由度水中マニピュレータのダイナミクス解析"ロボティクス・メカトロニクス講演会'02講演論文集. 1A1-A09 (2002)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] 木野 仁, 矢部 茂, 本荘 直樹, 川村 貞夫: "シリアルリンク機構/パラレルワイヤ駆動ロボットの位置センサフィードバック制御-PID位置制御について-"ロボティクス・メカトロニクス講演会 02講演論文集. 1A1-H08 (2002)

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      「研究成果報告書概要(和文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] 櫟 弘明, 山田 昌弘, 川村 貞夫: "2自由度平行リンク型ロボットを用いた学習制御による対象物の力制御"ロボティクス・メカトロニクス講演会'02講演論文集. 1A1-I12 (2002)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] 重歳 憲治, 川村 貞夫, 木野 仁, 金岡 克弥, 谷口 祥平, 石橋 良太, 植村 充典: "パラレルワイヤと学習制御を利用した水中での人間トルク計測構想"第23回バイオメカニズム学会講演会予稿集. 2B101 (2002)

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      「研究成果報告書概要(和文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] 谷口 祥平, 石橋 良太, 植村 充典, 重歳 憲治, 木野 仁, 金岡 克弥, 川村 貞夫: "パラレルワイヤによる人間の関節トルク計測"第23回バイオメカニズム学会講演会予稿集. 2B102 (2002)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] 武村 史朗, 三宅 聡行, 伊坂 忠夫, 川村 貞夫: "超音波画像処理を用いた筋・腱の運動解析に関する基礎研究"第23回バイオメカニズム学会講演会予稿集. 2D101 (2002)

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      2002 Final Research Report Summary
  • [Publications] 坂上 憲光, 川村 貞夫: "水中ロボットマニピュレータの運動解析と制御"日本機械学会2002年度年次大会講演資料集. 444-445 (2002)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] 川村 貞夫, 谷口 祥平, 木野 仁, 金岡 克弥, 石橋 良太, 植村 充典, 重歳 憲治: "パラレルワイヤ駆動システムの学習制御を利用した水中環境における人体の関節トルク解析"第8回ロボティクスシンポジア. 12C4 (2003)

    • Description
      「研究成果報告書概要(和文)」より
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      2002 Final Research Report Summary
  • [Publications] 坂上 憲光, 金岡 克弥, 川村 貞夫: "永中ロボットマニピュレータの学習制御と時間軸変換を利用した運動計画の実現手法"ロボティクス・メカトロニクス講演会'03講演論文集. 2P1-2F-A7 (2003)

    • Description
      「研究成果報告書概要(和文)」より
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      2002 Final Research Report Summary
  • [Publications] 井上 学, 坂上 憲光, 生田 義和, 川村 貞夫: "三次元多自由度マニピュレータを搭載した水中ロボットによる作業の実現"ロボティクス・メカトロニクス講演会'03講演論文集. 2P1-2F-A8 (2003)

    • Description
      「研究成果報告書概要(和文)」より
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      2002 Final Research Report Summary
  • [Publications] 重歳 憲治, 森野 友介, 武村 史朗, 伊坂 忠夫, 川村 貞夫: "超音波画像処理を用いた筋・腱活動のリアルタイム計測へのアプローチ"日本機械学会 Dynamics and Design Conference 2003. 231 (2003)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] 谷口 祥平, 木野 仁, 川村 貞夫: "パラレルワイヤ駆動システムによる学習制御法の考察"第21回日本ロボット学会学術講演会. 2C18 (2003)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] 木野 仁, 矢部 茂, 本荘 直樹, 川村 貞夫: "多リンク構造体ワイヤ駆動システムにおける位置センサフィードバック制御の整理"第21回日本ロボット学会学術講演会. 2C28 (2003)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] 坂上 憲光, 川村 貞夫: "時間軸変換と繰り返し学習制御を利用した水中ロボットマニピュレータの最短時間制御"第21回日本ロボット学会学術講演会. 2D24 (2003)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] Hitoshi Kino, Shigeru Yabe, Ryo Furutani, Sadao Kawamra: "Development of Force Display System using Serial-link Structure driven by Parallel-wire Mechanism (Japanese)"Transaction of Virtual Reality Society of Japan. vol.7, no.1. 3-8 (2002)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] Sadao Kawamura, Norimitsu Sakagami: "Analysis on Dynamics of Underwater Robot Manipulators basing on Iterative Learning Control and Time-Scale Transformation"IEEE International Conference on Robotics and Automation2002. VoL.2. 1088-1094 (2002)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] Hitoshi Kino, Sadao Kawamura: "Development of A Serial Link Structure/Parallel Wire System for A Force Display"IEEE International Conference on Robotics and Automation2002. Vol.1. 829-834 (2002)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] Norimitsu Sakagami, Manabu Inoue, Sadao Kawamura: "Theoretical and experimental studies on iterative learning control for underwater robots"International Society of Offshore and Polar Engineering. VoL.2. 295-300 (2002)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] Norimitsu Sakagami, Sadao Kawamura: "Analysis on dynamics of 3-DOF underwater robot manipulators based on time-scale transformation"Proc. of JAPAN-USA Symposium on Flexible Automation. Vol.3. 1139-1145 (2002)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] H.Kino, S.Yabe, S.Kawamura: "Sensor Feedback positioning control for a robot with serial-link structure driven by parallel-wire mechanism"Proc. of JAPAN-USA Symposium on Flexible Automation. Vol.3. 1133-1138 (2000)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] Norimitsu Sakagami, Manabu Inoue, Sadao Kawamura: "Theoretical and experimental studies on iterative learning control of underwater robot manipulators (Japanese)"Journal of the Society of Naval Architects of Japan. Vol.193. 411-417 (2002)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] Norimitsu Sakagami, Manabu Inoue, Sadao Kawamura: "Theoretical and Experimental Studies on Iterative Learning Control for Underwater Robots"International Journal of Offshore and Polar Engineering. Vol.13, No.2. 120-127 (2003)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] Norimitsu Sakagami, Sadao Kawamura: "Formation of Feedforward Inputs based on Time-Scale Transformation for Underwater Robot Manipulators (Japanese)"Journal of the Robotics Society of Japan. Vol.21, No.5. 562-568 (2003)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] Norimitsu Sakagami, Sadao Kawamura: "Time Optimal Control for Underwater Robot Manipulators Based on Iterative Learning Control and Time-Scale Transformation"Proc. of OCEANS 03 Conference. 1180-1186 (2003)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] H.Kino, S.Yabe, N.Honjo, S.Kawamura: "Sensor-Actuator Map for Organization of Position Sensor Feedback Control for Multiple Links Structure/Wire Driven System"Proc. of International Conference on Advanced Information Networking and Applications. (to appear). (2003)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] Norimitsu Sakagami, Atsushi Ishihara, Shinnosuke Nagasawa, Yoshimitsu Nakahara, Satoshi Ota, Sadao Kawamura: "Improvement of performance of a small underwater robot with an arm (Japanese)"JSME Conference on Robotics and Mechatronics. 1P1-L4. (2001)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] Hitoshi Kino, Shigeru Yabe, Sadao Kawamura: "Development of Force Display System using Serial Link Structure driven by Parallel Wire Mechanism (Japanese)"The 19th Annual Conference of the Robotics Society of Japan. 1E14. (2001)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] Norimitsu Sakagami, Manabu Inoue, Takeshi Yoshizaki, Sadao Kawamura: "Analysis of Dynamics for Underwater Robot Manipulators (Japanese)"The 19th Annual Conference of the Robotics Society of Japan. 1N35. (2001)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] Norimitsu Sakagami, Manabu Inoue, Takeshi Yoshizaki, Sadao Kawamura: "Dynamics Analysis of 3DOF Underwater Robot Manipulators based on Iterative Learning Control and Time-Scale Transformation (Japanese)"JSME Conference on Robotics and Mechatronics. 1A1-A09. (2002)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] Hitoshi Kino, Shigeru Yabe, Naoki Honjo, Sadao Kawamura: "Position Sensor Feedback for a Robot with a Serial-Link Structure driven by Parallel-Wire Mechanism (Japanese)"JSME Conference on Robotics and Mechatronics. 1A1-HO8. (2002)

    • Description
      「研究成果報告書概要(欧文)」より
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      2002 Final Research Report Summary
  • [Publications] Hiroaki Ichii, Masahiro Yamada, Sadao Kawaniura: "Force control between the object and 2 d.o.f paralleogram-type robots based on a learning law (Japanese)"JSME Conference on Robotics and Mechatronics. 1A1-I12. (2002)

    • Description
      「研究成果報告書概要(欧文)」より
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      2002 Final Research Report Summary
  • [Publications] Sadao Kawamura, Kenji Shigetoshi, Hitoshi Kino, Katsuya Kanaoka, Shohei Taniguchi, Ryota Ishibashi, Mitsunori Uemura: "Measurement of Joint Torques of Human Motions in Underwater Environment Using Learning Control and Parallel Wire Driven Systems (Japanese)"The 23th Annual Conference of the Society of Biomechanisms. 2B101. (2002)

    • Description
      「研究成果報告書概要(欧文)」より
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      2002 Final Research Report Summary
  • [Publications] Shohei Taniguchi, Ryota Ishibashi, Mitsunori Uemura, Kenji Shigetoshi, Hitoshi Kino, Katsuya Kanaoka, Sadao Kawamura: "Measurement of Joint Torques of Human Motions Using Parallel Wire Driven Systems (Japanese)"The 23th Annual Conference of the Society of Biomechanisms. 2B102. (2002)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] Shiro Takemura, Satoyuki Miyake, Tadao Isaka, Sadao Kawamura: "Basic research on Motion Analysis of muscles and tendons using ultrasonic image processing (Japanese)"The 23th Annual Conference of the Society of Biomechanisms. 2D101. (2002)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] Norimitsu Sakagami, Sadao Kawamura: "Motion Analysis and Control of Underwater Robot Manipulators (Japanese)"Mechanical Engineering Congress. 444-446 (2002)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] Sadao Kawamura, Shohei Taniguchi, Hitoshi Kino, Katsuya Kanaoka, Ryota Ishibashi, Mitsunori Uemura, Kenji Shigetoshi: "Analysis on Joint Torques of Human Motions in Underwater Environment Using a Learning Control for Parallel Wire Driven Systems (Japanese)"Robotics Symposia. 12C4. (2003)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] Norimitsu Sakagami, Katsuya Kanaoka, Sadao Kawamura: "Motion Planning for Underwater Robot Manipulators Based on Time-Scale Transformation and Iterative Learning Control (Japanese)"JSME Conference on Robotics and Mechatronics. 2P1-2F-A7. (2003)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] Manabu Inoue, Norimitsu Sakagami, Yoshikazu Ikuta, Sadao Kawamura: "Realization of Works by 3-Dimensional Manipulator Mounted on a Underwater Robot (Japanese)"JSME Conference on Robotics and Mechatronics. 2P1-2F-A8. (2003)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] Kenji Shigetoshi, Yuusuke Morino, Shiro Takemura, Tadao Isaka, Sadao Kawamura: "The approach to real-time measurement of the activity of muscles and tendons using ultrasonic image processing (Japanese)"Dynamics and Design Conference. 231 (2003)

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      「研究成果報告書概要(欧文)」より
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      2002 Final Research Report Summary
  • [Publications] Shohei Taniguchi, Hitoshi Kino, Sadao Kawamura: "Consideration of Learning Control for Paralell Wire Driven Systems (Japanese)"The 21st Annual Conference of the Robotics Society of Japan. 2C18. (2003)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] Hitoshi Kino, Shigeru Yabe, Naoki Honjo, Sadao Kawamura: "Organization of Position Sensor Feedback Control for Multiple Links Structure/Wire Driven System (Japanese)"The 21st Annual Conference of the Robotics Society of Japan. 2C28. (2003)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] Norimitsu Sakagami, Sadao Kawamura: "Time Optimal Control for Underwater Robot Manipulators based on Time-Scale Transformation and Iterative Learning Control (Japanese)"The 21st Annual Conference of the Robotics Society of Japan. 2D24. (2003)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] 木野仁, 矢部茂, 古谷了, 川村貞夫: "シリアルリンク機構/パラレルワイヤ駆動システムによる力覚提示装置の開発"日本バーチャルリアリティ学会誌. 7巻,1号. 3-8 (2002)

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      2002 Annual Research Report
  • [Publications] Sadao Kawamura, Norimitsu Sakagami: "Analysis on Dynamics of Underwater Robot Manipulators basing on Iterative Learning Control and Time-Scale Transformation"IEEE Internatinal Conference on Robotics and Automation2002. Vol.2. 1088-1094 (2002)

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      2002 Annual Research Report
  • [Publications] Hitoshi Kino, Sadao Kawamura: "Development of A Serial Link Structure / Parallel Wire System for A Force Display"IEEE Internatinal Conference on Robotics and Automation2002. Vol.1. 829-834 (2002)

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      2002 Annual Research Report
  • [Publications] Norimitsu Sakagami, Manabu Inoue Sadao Kawamura: "Theoretical and experimental studies on iterative learning control for underwater robots"International Society of Offshore and Polar Engineering. Vol.2. 295-300 (2002)

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      2002 Annual Research Report
  • [Publications] Norimitsu Sakagami, Sadao Kawamura: "Analysis on dynamics of 3-DOF underwater robot manipulators based on time-scale transformation"JAPAN-USA Symposium on Flexible Automation. Vol.3. 1139-1145 (2002)

    • Related Report
      2002 Annual Research Report
  • [Publications] H.Kino, S.Yabe, S.Kawamura: "Sensor Feedback positioning control for a robot with serial-link structure driven by parallel-wire mechanism"JAPAN-USA Symposium on Flexible Automation. Vol.3. 1133-1138 (2002)

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  • [Publications] 坂上憲光, 井上学, 川村貞夫: "水中ロボットマニピュレータの繰り返し学習制御に関する理論的考察と実験的検証"日本造船学会論文集. 193号. 411-417 (2002)

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      2002 Annual Research Report
  • [Publications] Norimitsu Sakagami, Manabu Inoue, Sadao Kawamura: "Theoretical and Experimental Studies on Iterative Learning Control for Underwater Robots"International Journal of Offshore and Polar Engineering Conference. (ページ未確定). (2003)

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      2002 Annual Research Report
  • [Publications] 坂上憲光, 川村貞夫: "時間軸変換を利用した水中ロボットマニピュレータのフィードフォワード入力生成"日本ロボット学会誌. Vol.21,No.5(ページ未確定). (2003)

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  • [Publications] 坂上憲光, 井上 学, 吉崎武史, 川村貞夫: "繰り返し学習制御と時間軸変換を利用した3自由度水中マニピュレータのダイナミクス解析"ロボティクス・メカトロニクス講演会 '02講演論文集. 1A1-A09 (2002)

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  • [Publications] 木野 仁, 矢部 茂, 本荘直樹, 川村貞夫: "シリアルリンク機構/パラレルワイヤ駆動ロボットの位置センサフィードバック制御-PID位置制御について-"ロボティクス・メカトロニクス講演会 '02講演論文集. 1A1-H08 (2002)

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  • [Publications] 重歳憲治, 川村貞夫, 木野 仁, 金岡克弥, 谷口祥平, 石橋良太, 上村充典: "パラレルワイヤと学習制御を利用した水中での人間トルク計測構想"第23回バイオメカニズム学会講演会予稿集. 2B101 (2002)

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  • [Publications] 谷口祥平, 石橋良太, 植村充典, 重歳憲治, 木野 仁, 金岡克弥, 川村貞夫: "パラレルワイヤによる人間の関節トルク計測"第23回バイオメカニズム学会講演会予稿集. 2B102 (2002)

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  • [Publications] 坂上憲光, 川村貞夫: "水中ロボットマニピュレータの運動解析と制御"日本機械学会2002年度年次大会講演資料集. 444-445 (2002)

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  • [Publications] 川村貞夫, 谷口祥平, 木野 仁, 金岡克弥, 石橋良太, 植村充典, 重歳憲治: "パラレルワイヤ駆動システムの学習制御を利用した水中環境における人体の関節トルク解析"第8回ロボティクス・シンポジア. (ページ未確定). (2003)

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  • [Publications] 坂上憲光, 金岡克弥, 川村貞夫: "水中ロボットマニピュレータの学習制御と時間軸変換を利用した運動計画の実現手法"ロボティクス・メカトロニクス講演会'03講演論文集. (ページ未確定). (2003)

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  • [Publications] 井上学, 坂上憲光, 吉崎武史, 国友雅哉, 生田義和, 川村 貞夫: "三次元多自由度マニピュレータを搭載した水中ロボットによる作業の実現"ロボティクス・メカトロニクス講演会'03講演論文集. (ページ未確定). (2003)

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  • [Publications] 木野 仁, 矢部 茂, 古谷 了, 川村貞夫: "シリアルリンク機構/パラレルワイヤ駆動システムによる力覚提示装置の開発"日本バーチャルリアリティ学会誌. 7巻,1号. (2002)

    • Related Report
      2001 Annual Research Report
  • [Publications] Sadaci Kawamura, Norimitsu Sakagami: "Analysis on dynamics of underwater robot manipulators basing on iterative learning control"IEEE Internatinal Conference on Robotics and Automation2002. (2002)

    • Related Report
      2001 Annual Research Report
  • [Publications] Norimitsu Sakagami, Manabu Inoue, Sadao Kawamura: "Theoretical and experimental Studies on iterative learning control for underwater robots"International Society of Offshore and Polar Engineering. (2002)

    • Related Report
      2001 Annual Research Report
  • [Publications] Norimitsu Sakagami, Sadao Kawamura: "Analysis on dynamics of 3-DOF underwater robot manipulators based on time-scale transformation"Japan-U.S.A symposium on Flexible Automation. (2002)

    • Related Report
      2001 Annual Research Report
  • [Publications] Hitoshi Kino, Sadao Kawamura: "Development of A Serial Link Structure / Parallel Wire System for A Force Disiplay"IEEE Internatinal Conference on Robotics and Automation2002. (2002)

    • Related Report
      2001 Annual Research Report

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Published: 2001-04-01   Modified: 2016-04-21  

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