3次元作業空間における用紙の位置変化にロバストな筆記動作の保存と再現

カテゴリ: 論文誌(論文単位)

グループ名: 【D】産業応用部門

発行日: 2014/03/01

タイトル(英語): Saving and Loading of Writing Motion in Three-Dimensional Work Spaces with Robustness against Changes in Paper Position

著者名: 遠山　大輔（三重大学大学院工学研究科電気電子工学専攻），矢代　大祐（三重大学大学院工学研究科電気電子工学専攻），弓場井　一裕（三重大学大学院工学研究科電気電子工学専攻），駒田　諭（三重大学大学院工学研究科電気電子工学専攻）

著者名(英語): Daisuke Toyama (Department of Electrical and Electronic Engineering, Graduate School of Engineering, Mie University), Daisuke Yashiro (Department of Electrical and Electronic Engineering, Graduate School of Engineering, Mie University), Kazuhiro Yubai (Department of Electrical and Electronic Engineering, Graduate School of Engineering, Mie University), Satoshi Komada (Department of Electrical and Electronic Engineering, Graduate School of Engineering, Mie University)

キーワード: パラレルメカニズム，ハプティクス，モーションコピー，加速度制御，作業空間，外界センサ　　parallel mechanism，haptics，motion copying，acceleration control，work space，external sensor

要約(英語): With the decrease of experienced engineers in recent years, studies have focused on developing systems that save skilled hand motions as electronic data for reproduction by robots. However, few studies have succeeded in reproducing skilled hand motions in three-dimensional work spaces. In addition, the reproducibility of a hand motion is not guaranteed when the initial distance between an object and the robot for the saved motion differs from the distance for the reproduced motion. In the present study, a delta parallel mechanism system with three degrees of freedom was developed that saves and reproduces skilled hand motions in three dimensional work spaces. An external sensor that measures the distance between the object and robot is attached to the mechanism and thus guarantees the reproducibility of hand motions against variations in the initial position. The validity of the proposed system was confirmed analytically and experimentally. In the experiment, writing motions by a hard pen were saved and reproduced; the proposed system demonstrated a performance superior to conventional systems.

本誌: 電気学会論文誌D（産業応用部門誌） Vol.134 No.3 （2014） 特集：産業計測自動制御，メカトロニクス制御

本誌掲載ページ: 308-316 p

原稿種別: 論文／日本語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejias/134/3/134_308/_article/-char/ja/