1992 Fiscal Year Final Research Report Summary
A Computer Controller for Performing Autonomous Functions
| Project/Area Number |
03650211
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| Research Category |
Grant-in-Aid for General Scientific Research (C)
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| Allocation Type | Single-year Grants |
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| Research Field |
機械力学・制御工学
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| Research Institution | HIROSHIMA UNIVERSITY |
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Principal Investigator |
YAMAGATA Keiichi Hiroshima University,Dept,of Information Science,Professor, 総合科学部, 教授 (90029992)
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| Co-Investigator(Kenkyū-buntansha) |
塩谷 景一 三菱電機(株), 産業システム研究所, 主事研究員
HARADA K Hiroshima University,Dept.of Information Science,Associate Professor, 総合科学部, 助教授 (90124114)
SHIOTANI K Mitsubishi Electric Corporation,Research Staff
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| Project Period (FY) |
1991 – 1992
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| Keywords | Control of machines / Geometric modeling / Configuration space / Trajectory planning / Computer controller / ATMS |
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| Research Abstract |
1. In order to implement the autonomous functions of manipulators and NC machine tools in a manufacturing cell, the geometric models of working environment are required. We proposed the efficient method for real-time processing, where the simple polyhedral geometric models and the detailed ones are cooperatively used. 2. For trajectory planning of articulated manipulators in real-time, the new method of obstacle avoidance was proposed. In the configuration space, path planning is executed by only using the collision points and potentials: and in the model of three dimensional space only collision detection is executed. Using these two spaces jointly, rough motion planning is implemented efficiently. 3. Finding the characteristics of free form shapes was studied, which is helpful to autonomous generation of cutter paths. 4. An Assumption Based Truth Maintenance System was experimentally developed. We are now investigating the effectiveness of this system for logical inference of general planning problems.
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