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Visual Marker System for Control of Flexible Manipulator Supporting Daily Living
Hideyuki Tanaka,Tetsuo Tomizawa,Yasushi Sumi,Jae Hoon Lee,Yong Shik Kim,Bong Keun Kim,Tamio Tanikawa,Hiromu Onda,Kohtaro Ohba 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
Structuring of environment is indispensable for practical application of domestic robots. We developed a supporting system for a service robot which is in practical use and assists human daily living. In this system, we used a flexible manipulator of which fine position control is difficult to conduct. In order to fulfill the precision requirement needed to autonomous object handling, we implemented a visual marker system which provides robots with assistive information for fine manipulation, combining with a visual servoing scheme. We verified the basic design of the marker system under a home environment through preliminary experiments.
Universal Design of Robot Management System for Daily-Life-Supporting Robots
Bong Keun KIM,Tetsuo TOMIZAWA,Hyun Min DO,Jae Hoon LEE,Hideyiki TANAKA,Yasushi SUMI,Hiromu ONDA,Tamio TANIKAWA,Kohtaro OHBA 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
In order to cope with many problems of everyday activities which requires robots to accomplish complex yet routine tasks in changing environments, this study focuses on universality and proposes seven principles of universal design with robots. These principles are used to design a robot management system that manages and controls information-structured environment with robots, ambient intelligent systems, and everyday objects. A particular scenario is considered to verify the feasibility of the proposed design method.
A Control System for Dual-Axis Linear Motor
Yoshiyuki UCHIDA,Shigemitsu NOHIRA,Yoshiyuki SElKE,Hiroyasu SHINGU,Tetsuo SUMI,Hideo FURUHASHI,Jun YAMADA 대한전자공학회 1992 대한전자공학회 학술대회 Vol.1992 No.10
Fundamental positioning characteristics of a dual-axis Sawyer linear motor are described. The Sawyer motor is capable of high positional accuracy. An electronic control unit of the motor whose velocity is proportional to the frequency of the electric current was produced in our laboratory. The positioning system was constructed using two Sawyer motors, an air bearings suspension unit and an electronic control unit. The stable motion of the motor was confirmed on the open loop operation. The adjustable operating conditions were the live load of 1㎏, the maximum acceleration of 1.2G and the maximum velocity of 350㎜/s. Absolute positioning accuracy was improved within ±5㎛, on microstep operating conditions of dividing one pitch of 508㎛ into 508 steps. The following two conclusions were obtained. An accelerating-cruising-decelerating control is effective for reduction in the travel time required. Also, microstep operation is effective for improving the resolution of position.