Study on Dual Arm Intelligent Robot for Space Application
Grant-in-Aid for international Scientific Research
|Allocation Type||Single-year Grants|
|Research Institution||Tohoku University|
UCHIYAMA Masaru Tohoku University, Faculty of Engineering, Associate Professor, 工学部, 助教授 (30125504)
内山 勝 東北大学, 工学部, 助教授
NAKAMURA Yoshihiko University of California, Santa Barbara, Department of Mechanical and Environmen, 機械環境工学科, 助教授
エドアルド バヨ カリフォルニア大学サンタバーバラ校, 機械環境工学科, 助教授
ドシェ ピエール モンペリエ第2大学, 自動化およびマイクロエレクトロニクス研究所, CNRS研究員
KAMEYAMA Michitaka Tohoku University, Faculty of Engineering, Associate Professor, 工学部, 助教授 (70124568)
BAYO Eduardo University of California, Santa Barbara, Department of Mechanical and Environmen
DAUCHEZ Pierre University Montpellier II, LAMM, CNRS Researcher
|Project Period (FY)
Completed(Fiscal Year 1990)
|Budget Amount *help
¥2,000,000 (Direct Cost : ¥2,000,000)
Fiscal Year 1990 : ¥2,000,000 (Direct Cost : ¥2,000,000)
|Keywords||Space Robot / Telerobotics / Dual Arm Robot / Flexible Robot / Free-Flying Robot / Redundant Robot / Intelligent Robot / Dedicated VLSI Processor|
This project was undertaken in the fiscal year of 1990. During the period of the project, two investigators were sent abroad and three investigators were invited from abroad. Through this communication of investigators, international collaboration on dual arm intelligent robotics in space was done successfully.
The two investigators who were sent abroad were Prof. Kameyama and Prof. Uchiyama at Tohoku University. Prof. Kameyama visited University of California, Santa Barbara, U. S. A. and had a meeting on space robotics with Profs. Bayo and Nakamura. Prof. Uchiyama who happened to have visited U. S. A. at that time joined the meeting. He also visited University Montpellier II, France and had a meeting on dual arm robotics with Dr. Dauchez and his graduate students. He also had a meeting with Mr. Pierrot and discussed on a parallel robot which he was developing.
The three investigators who were invited from abroad were Dr. Dauchez, Profs. Bayo and Nakamura. They visited Tohoku University simultaneously and had a meeting on space robotics with Profs. Kameyama and Uchiyama. Moreover, the all investigators presented their recent research at the International Workshop on Dual Arm Intelligent Robotics in Space which was organized supported by this project in cooperation with the Robotics Society of Japan. At the workshop about forty researchers from all parts of Japan participated. The proceedings of this workshop is included in this report.
In conclusion, this project was successful and yielded fruitful results some of which can be taken over by future collaboration. Those include modeling and control of flexible robot arms which can be a joint project between Profs. Uchiyama and Bayo parallel robots which can be a joint project among Profs. Uchiyama, Kameyama, Dr. Dauchez and Mr. Pierrot.
Research Products (12results)