Kosuke Tanaka, K. Sawada, Seiichi Shin, K. Kumagai, Naoto Yoneda
This paper presents a modeling of an automatic guided vehicle (AGV) to achieve an advanced control. The modeling includes 3 kinds of choices; a choice of input-output data pair from 15 candidate pairs, a choice of system identification technique form 5 candidate techniques, a choice of discrete to continuous transform method from 2 candidate methods. An approach for calibration between a statistical model and a physical model is also here. The models are combined according to the weight of AGV.
{"title":"Modeling and calibration of automatic guided vehicle","authors":"Kosuke Tanaka, K. Sawada, Seiichi Shin, K. Kumagai, Naoto Yoneda","doi":"10.9746/SICETR.47.412","DOIUrl":"https://doi.org/10.9746/SICETR.47.412","url":null,"abstract":"This paper presents a modeling of an automatic guided vehicle (AGV) to achieve an advanced control. The modeling includes 3 kinds of choices; a choice of input-output data pair from 15 candidate pairs, a choice of system identification technique form 5 candidate techniques, a choice of discrete to continuous transform method from 2 candidate methods. An approach for calibration between a statistical model and a physical model is also here. The models are combined according to the weight of AGV.","PeriodicalId":438704,"journal":{"name":"Proceedings of SICE Annual Conference 2010","volume":"31 10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-10-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126706069","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-10-14DOI: 10.1299/jsmebio.2009.22.112
Akimasa Fukuhara, T. Akagi, S. Dohta
The wearable actuator needs to be flexible so as not to injure the human body. We aim to develop a flexible and lightweight actuator which can be safe enough to be attached to the human body. We have proposed new types of flexible pneumatic actuators that can be used even if the actuator is deformed by external forces. We also tested a robot arm using the tested flexible pneumatic cylinders. In the next step, the actuator should be able to measure its displacement to realize the higher control performance. The purpose of this study is to develop the displacement sensor for the flexible actuator and to combine it with the actuator. In this paper, we develop a flexible linear encoder that can measure the displacement of the flexible pneumatic cylinder using four photo-reflectors. They can detect the state of bending tube to compensate the sensor output even if the tube is bent. In addition, we develop a flexible pneumatic cylinder with a built-in linear encoder. As a result, we confirm that the tested cylinder can be realized even if the cylinder tube is affected by the disturbance while driving.
{"title":"Development and application of flexible pneumatic cylinder with linear encoder","authors":"Akimasa Fukuhara, T. Akagi, S. Dohta","doi":"10.1299/jsmebio.2009.22.112","DOIUrl":"https://doi.org/10.1299/jsmebio.2009.22.112","url":null,"abstract":"The wearable actuator needs to be flexible so as not to injure the human body. We aim to develop a flexible and lightweight actuator which can be safe enough to be attached to the human body. We have proposed new types of flexible pneumatic actuators that can be used even if the actuator is deformed by external forces. We also tested a robot arm using the tested flexible pneumatic cylinders. In the next step, the actuator should be able to measure its displacement to realize the higher control performance. The purpose of this study is to develop the displacement sensor for the flexible actuator and to combine it with the actuator. In this paper, we develop a flexible linear encoder that can measure the displacement of the flexible pneumatic cylinder using four photo-reflectors. They can detect the state of bending tube to compensate the sensor output even if the tube is bent. In addition, we develop a flexible pneumatic cylinder with a built-in linear encoder. As a result, we confirm that the tested cylinder can be realized even if the cylinder tube is affected by the disturbance while driving.","PeriodicalId":438704,"journal":{"name":"Proceedings of SICE Annual Conference 2010","volume":"7 3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-10-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128294773","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
In this paper, we discuss the leader-following formation navigation (LFFN), which is one of the most important issues in formation control. In this formation, one leader is controlled by a human operator, while multiple followers pass along the leader's trajectory in the same motion as the leader. The followers move along the leader's path behind the leader after some intervals. Thus, around the initial time, the followers cannot determine routes to track because there is no leader's path before the initial time. Moreover, if the followers try to mimic the motion of the leader completely, they have to stop at the initial position of the leader. This paper discusses how the followers should move around the initial time in order to start up naturally and to achieve the LFFN afterwards. Comparing to our previous method, these desired follower's velocities can be designed online, and an experiment with two mobile robots demonstrates the effectiveness of the proposed method.
{"title":"Online leader-following formation navigation with initial movements of followers and its experimental verification","authors":"Manabu Suzuki, K. Sakurama, K. Nakano","doi":"10.9746/JCMSI.5.304","DOIUrl":"https://doi.org/10.9746/JCMSI.5.304","url":null,"abstract":"In this paper, we discuss the leader-following formation navigation (LFFN), which is one of the most important issues in formation control. In this formation, one leader is controlled by a human operator, while multiple followers pass along the leader's trajectory in the same motion as the leader. The followers move along the leader's path behind the leader after some intervals. Thus, around the initial time, the followers cannot determine routes to track because there is no leader's path before the initial time. Moreover, if the followers try to mimic the motion of the leader completely, they have to stop at the initial position of the leader. This paper discusses how the followers should move around the initial time in order to start up naturally and to achieve the LFFN afterwards. Comparing to our previous method, these desired follower's velocities can be designed online, and an experiment with two mobile robots demonstrates the effectiveness of the proposed method.","PeriodicalId":438704,"journal":{"name":"Proceedings of SICE Annual Conference 2010","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-10-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121517552","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
T. Kinugasa, T. Akagi, K. Ishii, T. Haji, K. Yoshida, Y. Otani, H. Amano, R. Hayashi, K. Tokuda, K. Osuka
We have proposed Flexible Mono-tread mobile Track (FMT) as a mobile mechanism for hazardous environment such as disaster area. FMT has only one track which can flex in three dimension. Generally speaking, one has to teleoperate robots under invisible condition. In order to operate the robots skillfully, it is necessary to detect not only condition around the robots and its position but also posture of the robots at any time. Flexed posture of FMT decides turning radius and direction, it is very important to know its posture, accordingly. FMT has a vertebral structure composed of vertebrae as rigid body and intervertebral disks made by flexible devices such as rubber cylinder and spring. Since the intervertebral disks flex in three dimension, it is not easy for traditional sensors such as potentiometers, rotary encoders and range finders to measure its deformation. The purpose of the paper, therefore, is to measure flexed posture of FMT using a new flexible displacement sensor. As a result, the posture of a joint of FMT is measured.
{"title":"Measurement of flexed posture for flexible mono-tread mobile track: Fundamental test and validation using new flexible displacement sensor","authors":"T. Kinugasa, T. Akagi, K. Ishii, T. Haji, K. Yoshida, Y. Otani, H. Amano, R. Hayashi, K. Tokuda, K. Osuka","doi":"10.5687/ISCIE.24.200","DOIUrl":"https://doi.org/10.5687/ISCIE.24.200","url":null,"abstract":"We have proposed Flexible Mono-tread mobile Track (FMT) as a mobile mechanism for hazardous environment such as disaster area. FMT has only one track which can flex in three dimension. Generally speaking, one has to teleoperate robots under invisible condition. In order to operate the robots skillfully, it is necessary to detect not only condition around the robots and its position but also posture of the robots at any time. Flexed posture of FMT decides turning radius and direction, it is very important to know its posture, accordingly. FMT has a vertebral structure composed of vertebrae as rigid body and intervertebral disks made by flexible devices such as rubber cylinder and spring. Since the intervertebral disks flex in three dimension, it is not easy for traditional sensors such as potentiometers, rotary encoders and range finders to measure its deformation. The purpose of the paper, therefore, is to measure flexed posture of FMT using a new flexible displacement sensor. As a result, the posture of a joint of FMT is measured.","PeriodicalId":438704,"journal":{"name":"Proceedings of SICE Annual Conference 2010","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-10-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116908882","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
T. Narikiyo, M. Kawanishi, T. Mizuno, Yasuo Hanada
A mobile manipulator is expected to play an important role both in the production process of factory and in a medical care system of welfare business. To come up to this expectation, a mobile manipulator is required to simultaneously track to both the desired position trajectory and force trajectory. Therefore we have proposed two adaptive hybrid position/force control schemes for mobile manipulators. In this paper we impliment these control schemes experimentally and demonstarate the effectiveness of these proposed control schemes.
{"title":"Robust adaptive position/force control of mobile manipulators — Theory and experiments","authors":"T. Narikiyo, M. Kawanishi, T. Mizuno, Yasuo Hanada","doi":"10.9746/JCMSI.4.305","DOIUrl":"https://doi.org/10.9746/JCMSI.4.305","url":null,"abstract":"A mobile manipulator is expected to play an important role both in the production process of factory and in a medical care system of welfare business. To come up to this expectation, a mobile manipulator is required to simultaneously track to both the desired position trajectory and force trajectory. Therefore we have proposed two adaptive hybrid position/force control schemes for mobile manipulators. In this paper we impliment these control schemes experimentally and demonstarate the effectiveness of these proposed control schemes.","PeriodicalId":438704,"journal":{"name":"Proceedings of SICE Annual Conference 2010","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-10-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132911769","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
On contrast to the successful achievement of nonlinear control theory with continuous-time feedback as in, e.g., [1], [5], there are less studies on the digital control of nonlinear systems with notable exceptions, e.g., [2], [4]. In particular there are few results on quantitative aspects of the subject. This article considers a digital implementation problem of the passivity based control for port-controlled Hamiltonian systems. A sufficient condition for asymptotic stability is given in terms of the Hamilton-Jacobi-Isaac inequality. A more tractable sufficient condition is also shown with a reward of conservatism. The effectiveness of the proposed methods is demonstrated by numerical examples.
{"title":"Stability analysis for a class of Hamiltonian systems with digital control","authors":"S. Kawakami, H. Fujioka","doi":"10.1049/PBCE076E_CH6","DOIUrl":"https://doi.org/10.1049/PBCE076E_CH6","url":null,"abstract":"On contrast to the successful achievement of nonlinear control theory with continuous-time feedback as in, e.g., [1], [5], there are less studies on the digital control of nonlinear systems with notable exceptions, e.g., [2], [4]. In particular there are few results on quantitative aspects of the subject. This article considers a digital implementation problem of the passivity based control for port-controlled Hamiltonian systems. A sufficient condition for asymptotic stability is given in terms of the Hamilton-Jacobi-Isaac inequality. A more tractable sufficient condition is also shown with a reward of conservatism. The effectiveness of the proposed methods is demonstrated by numerical examples.","PeriodicalId":438704,"journal":{"name":"Proceedings of SICE Annual Conference 2010","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-10-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123001429","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Inverter power supplies have been developed as an analog circuit, over past decade digital control has emerged as a viable candidate for the inverter power supplies. As a first step of design, the modeling and simulation are very useful for the development and implementation in both hardware and software design. It can lead to improve the performance, reduced development and production cost and time. This paper constructs Model In the Loop Simulation (MILS) environment for designing the embedded software for the inverter power supply. Important software parameters are optimized using the simulator. To very the validity of the developed model, comparisons between the circuit simulation and experimental result are shown. The illustrations show that the results obtained by the developed model are in good agreement with the experimental results.
{"title":"Simulation based design for the inverter power supply","authors":"Mona Abo El Dahb, Y. Shiraishi, Shoji Tatsuno","doi":"10.2197/IPSJTRANS.3.186","DOIUrl":"https://doi.org/10.2197/IPSJTRANS.3.186","url":null,"abstract":"Inverter power supplies have been developed as an analog circuit, over past decade digital control has emerged as a viable candidate for the inverter power supplies. As a first step of design, the modeling and simulation are very useful for the development and implementation in both hardware and software design. It can lead to improve the performance, reduced development and production cost and time. This paper constructs Model In the Loop Simulation (MILS) environment for designing the embedded software for the inverter power supply. Important software parameters are optimized using the simulator. To very the validity of the developed model, comparisons between the circuit simulation and experimental result are shown. The illustrations show that the results obtained by the developed model are in good agreement with the experimental results.","PeriodicalId":438704,"journal":{"name":"Proceedings of SICE Annual Conference 2010","volume":"127 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-10-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122109014","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-10-14DOI: 10.1007/978-3-642-21793-7_56
Makoto Oka, Yutaro Ooba, Hidetaka Kuriiwa, Ryuta Yamada, H. Mori
{"title":"A study on selection ability in the 3D space by the finger","authors":"Makoto Oka, Yutaro Ooba, Hidetaka Kuriiwa, Ryuta Yamada, H. Mori","doi":"10.1007/978-3-642-21793-7_56","DOIUrl":"https://doi.org/10.1007/978-3-642-21793-7_56","url":null,"abstract":"","PeriodicalId":438704,"journal":{"name":"Proceedings of SICE Annual Conference 2010","volume":"64 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-10-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129541563","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-10-14DOI: 10.1299/JSMERMD.2010._1A1-D13_1
Y. Sakaida, R. Ikeura, D. Chugo
In recent years, rapid aging in Japanese society advances and the care givers takes on large loads. Especially, transfer operation, such as a patient transfer from a bed to a wheelchair or back, is one of the most physically heavy tasks in nursing care. Therefore, there is strong demand for nursing assist system for them. We have developed the nursing-care assistant robot named RIBA that aimed to assist transferring a patient by lifting up. It is necessary to investigate how to transfer a human from a bed to a wheelchair or back. In this paper, we measure the lift up motion by human and analyze the skill of safety and efficient lift up in order to apply for base of the motion planning of RIBA. From analyzed results, a human can lift up the object only moving the arms small in front and rear. This means, it reduces the risk of dropping the object. Comparing with angle of the right and left arms, the angle of the head side arm is larger than the angle of the leg side arm. It recognized that the right and left arm take the different role when lifting up. Finally, we make the prototype lift up motion and implement to RIBA, and try to lift up the human.
{"title":"The analysis of upper arm movement when a human lift up a dummy doll","authors":"Y. Sakaida, R. Ikeura, D. Chugo","doi":"10.1299/JSMERMD.2010._1A1-D13_1","DOIUrl":"https://doi.org/10.1299/JSMERMD.2010._1A1-D13_1","url":null,"abstract":"In recent years, rapid aging in Japanese society advances and the care givers takes on large loads. Especially, transfer operation, such as a patient transfer from a bed to a wheelchair or back, is one of the most physically heavy tasks in nursing care. Therefore, there is strong demand for nursing assist system for them. We have developed the nursing-care assistant robot named RIBA that aimed to assist transferring a patient by lifting up. It is necessary to investigate how to transfer a human from a bed to a wheelchair or back. In this paper, we measure the lift up motion by human and analyze the skill of safety and efficient lift up in order to apply for base of the motion planning of RIBA. From analyzed results, a human can lift up the object only moving the arms small in front and rear. This means, it reduces the risk of dropping the object. Comparing with angle of the right and left arms, the angle of the head side arm is larger than the angle of the leg side arm. It recognized that the right and left arm take the different role when lifting up. Finally, we make the prototype lift up motion and implement to RIBA, and try to lift up the human.","PeriodicalId":438704,"journal":{"name":"Proceedings of SICE Annual Conference 2010","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-10-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129124830","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-10-14DOI: 10.1299/jsmecs.2010.48.303
Kengo Harihara, S. Dohta, T. Akagi, Feng Zhang
Recently, the large earthquake including Hanshin-Awaji (Kobe) Earthquake has occurred. A lot of lives have been lost due to these earthquakes. In order to find and save victims even one, many researches and developments of the rescue robot have been done. In such studies, most of the rescue robot used the electric actuator for travelling. In those cases, there is a possibility of getting an electric shock because of electricity. Comparing with electric actuators, the pneumatic and flexible actuators and devices can make the robot stronger against the electric shock and physical shock. In this study, we aim to develop the search type rescue robot with flexible structure. We propose two types of robot. First, we propose and test a lightweight and compact search type rescue robot using the flexible pneumatic cylinder and crawler unit. Second, we propose and test the rescue robot using a pneumatic motor and the long stroke type artificial rubber muscles. This paper describes the structure, the principle of operation and the performance of the tested robots.
{"title":"Development of a search type rescue robot driven by pneumatic actuator","authors":"Kengo Harihara, S. Dohta, T. Akagi, Feng Zhang","doi":"10.1299/jsmecs.2010.48.303","DOIUrl":"https://doi.org/10.1299/jsmecs.2010.48.303","url":null,"abstract":"Recently, the large earthquake including Hanshin-Awaji (Kobe) Earthquake has occurred. A lot of lives have been lost due to these earthquakes. In order to find and save victims even one, many researches and developments of the rescue robot have been done. In such studies, most of the rescue robot used the electric actuator for travelling. In those cases, there is a possibility of getting an electric shock because of electricity. Comparing with electric actuators, the pneumatic and flexible actuators and devices can make the robot stronger against the electric shock and physical shock. In this study, we aim to develop the search type rescue robot with flexible structure. We propose two types of robot. First, we propose and test a lightweight and compact search type rescue robot using the flexible pneumatic cylinder and crawler unit. Second, we propose and test the rescue robot using a pneumatic motor and the long stroke type artificial rubber muscles. This paper describes the structure, the principle of operation and the performance of the tested robots.","PeriodicalId":438704,"journal":{"name":"Proceedings of SICE Annual Conference 2010","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-10-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129877543","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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