1989 Fiscal Year Final Research Report Summary
A computer controller for coordinated control in autonomous machines.
| Project/Area Number |
63550188
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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 | Osaka University |
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Principal Investigator |
YAMAGATA Keiichi Osaka University, Dept. of Precision Engineering, Associate Professor, 工学部, 助教授 (90029992)
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| Co-Investigator(Kenkyū-buntansha) |
SHIOTANI Keiichi Mitsubishi Electric Corporation, Member of Laboratory, 研究員
YOKOYAMA Takashi Osaka University, Dept. of Precision Engineering, Associate Professor, 工学部, 助教授 (60093944)
SHIMADA Shoichi Osaka University, Dept. of Precision Engineering, Associate Professor, 工学部, 助教授 (20029317)
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| Project Period (FY) |
1988 – 1989
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| Keywords | Computer controller / Geometric modeling / Articulated manipulator / Coordinated control / Formula manipulation / Trajectory planning |
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| Research Abstract |
1. A Multi-microcomputer system for coordinated control was developed, where the shared memory was effectively used for communications among application tasks. In order to make use of this hardware architecture, a new construction method of software systems was introduced. When a control flow graph is specified in an application field, users can prepare communication channels among task programs at their will. Using this method, compact and flexible real-time systems can be realized.
2. A manipulation method of free form shapes using differential geometry was developed. Designers can use tangential planes besides vertices, when they make up a geometric model. Moreover, when a shape is machined with numerical control, a controller can use the slope of tangential planes for efficient tool path generation.
3. A compact modeling system of working environment was developed for generating manipulator trajectories. The three dimensional geometric modeling was associated with the model of configuration space and visual sensors. Using this system, the availability of real-time trajectory generation is investigated.
4. Mechanisms and dynamics of articulated manipulators were constructed in the formula manipulation system REDUCE. It is impossible to execute formula manipulation in real-time, but these were used for code generation of control programs. The objective is to prepare customized programs for computation load reduction. The effectiveness of this method is investigated.
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