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公开(公告)号：JP2001114199A
公开(公告)日：2001-04-24
申请号：JP29798499
申请日：1999-10-20
Applicant: NAT AEROSPACE LAB
Inventor： MOTOHASHI TOSHIMI , MATSUMOTO KOTARO , OKAMI YOSHIAKI
Abstract: PROBLEM TO BE SOLVED: To provide an attitude control method for an orbital non-cooperative object capable of damping the angular momentum of the orbital non-cooperative object by simple method without a large-scale system such as a net, tether or the like. SOLUTION: A projection material 2 is projected to the non-cooperative objet 1 freely moving on aerospace orbit from another satellite to apply an impact in the direction of damping the angular momentum, thereby reducing the angular momentum. Accordingly, the movement of the non-cooperative object can be made into a single spin or stopped so that capture by a robot arm or the like is enabled.
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公开(公告)号：JPH08286754A
公开(公告)日：1996-11-01
申请号：JP11267495
申请日：1995-04-14
Applicant: NAT AEROSPACE LAB
Inventor： WAKABAYASHI SACHIKO , MATSUMOTO KOTARO
Abstract: PURPOSE: To smoothly perform the remote control by verifying and re-editing an indication instruction string of remote control in real time to avoid the occurrence of a trouble and re-editing the indication instruction string leading to the trouble. CONSTITUTION: When an operator operates a controller 10, a remote control command is sent to an operation management mechanism 14 through an operation simulator 12 of a robot, and it is verified whether the command has a trouble which can be discriminated or not. If the command has no troubles, it sent to a holding and delay mechanism 16 and is held for a virtual delay time. If the remote control command has a trouble, a trouble processing function is operated. The operation management mechanism 14 is connected to the holding and delay mechanism 16, and a trouble processing method like deletion or change of a series of control commands leading to the trouble in the mechanism 16 can be adopted. Consequently, remote control commands are verified and re-edited in real time, and the remote control system of high operability is obtained.
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公开(公告)号：JPH03119423A
公开(公告)日：1991-05-21
申请号：JP25859389
申请日：1989-10-03
Applicant: NAT AEROSPACE LAB , FUJITSU LTD
Inventor： YAMAMOTO HIROMICHI , NAKA MASAO , MATSUMOTO KOTARO , MATSUSHIMA KOICHI , HARADA KAZUYUKI , SATO YUICHI , KAWAI MASATO
Abstract: PURPOSE:To attain the integrated and highly efficient input/output, the storage, etc., of data among different programs by dividing the input/output data on the programs into plural frames of different characteristics and operating these data for each frame. CONSTITUTION:A process means 111 performs a prescribed process related to execution of programs. Thus the input data and the output data are stored in an input/output data store means 121. A correspondence information store means 131 stores the relationship between the input and output data store positions in the means 121 and the parameter names added to these input and output data. These data are also divided into plural frames according to the difference of characteristics. Then the input/output data stored in each frame are designated by the frame information via the parameter names, and this frame information is stored in a frame information store means 141. As a result, the integrated control of data is attained with out relying on programs.
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公开(公告)号：JPH11247882A
公开(公告)日：1999-09-14
申请号：JP5252498
申请日：1998-03-04
Applicant: NAT AEROSPACE LAB , SHIMIZU CONSTRUCTION CO LTD
Inventor： MATSUMOTO KOTARO , WAKABAYASHI SACHIKO , SATO HITOSHI , UENO HIROSHI , HARIMA KOICHI , YOSHIDA TETSUJI
Abstract: PROBLEM TO BE SOLVED: To provide a rotary joint simple in structure devised certainly to take avoiding motion when a load torque is excessive and free to flexibly follow to the load side. SOLUTION: A C type spring 8 as a cushioning material is arranged between engagement protruded parts 5, 6 for torque transmission of a primary side rotary member 3 and a secondary side rotary member 4 on a rotary joint to transmit torque from the primary side to the secondary side. The C type spring 8 clamps both of the engagement protruded parts between opening ends 8a, 8a and energizes both of the engagement protruded parts at a zero rotary phase difference position with a specified pre-load. This C type spring 8 allows a rotary phase difference between both of the engagement parts by elastically deforming at the time when torque exceeding the specified pre-load works between the both engagement parts. Additionally, torque is transmitted from the primary side to the secondary side in this state.
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公开(公告)号：JPH10100086A
公开(公告)日：1998-04-21
申请号：JP27522096
申请日：1996-09-27
Applicant: NAT AEROSPACE LAB
Inventor： WAKABAYASHI SACHIKO , MATSUMOTO KOTARO
Abstract: PROBLEM TO BE SOLVED: To efficiently incorporate the real time verification system in the remote operation system of highly reliable type by providing a keeping and delay mechanism of the remote operation command on the command side and the remote side. SOLUTION: Re-editing in processing inconveniences is performed referring to a command side keeping and delay mechanism 16, and the operation command in a remote side keeping and delay mechanism 18 which is not realized as a result of the re-editing is replaced by the new succeeding operation command. The operation command reaching the execution stage after elapse of the imaginary time delay on the command side is realized by transmitting the final execution command with the discrimination information of the operation command to the remote side. Thus, the time for collation and confirmation of transmission/reception of the remote operation command can be used as a part of or a whole of the imaginary time delay, and the real time verification and re-editing can be efficiently realized by the remote operation system of highly reliable type.
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Patent Agency Ranking
公开(公告)号：JPH01204900A
公开(公告)日：1989-08-17
申请号：JP3009488
申请日：1988-02-12
Applicant: NAT AEROSPACE LAB
Inventor： NITTA KEIJI , AZUMA HISAO , OTSUBO KOJI , OGUCHI MITSUO , TANEMURA TOSHIHARU , NAKAJIMA ATSUSHI , NAKAMURA YOSHIHIRO , YOSHIMURA SHOICHI , INOUE YASUTOSHI , MATSUMOTO KOTARO , KIBE SEISHIROU , FUJIMORI YOSHINORI , EGUCHI KUNIHISA
Abstract: PURPOSE:To make a spacecraft platform constructible as one structural body without giving any adverse effect on environmental conditions in both elements by connecting the rotating element at the outside to the nonrotating element at the inside through magnetic force in a noncontact state. CONSTITUTION:A spacecraft platform is constituted of a nonrotating element 1 at a central part capable of offering microgravity for space environmental utilization such as the rearing of flora and fauna in space, various astronomical observations, science and engineering experiments and so on, and both rotating elements 5, 6 to generate artificial gravity and offer such environment as making a human being active so comfortably over a long period of time. In this case, the nonrotating element 1 and the rotating elements 5, 6 are coupled together in noncontact by a magnetic coupling part 7. This noncontact part 7 is made into a structure coupled with a rotary coupling part 14 magnetically in and around a nonrotating coupling part 13 or a part of the nonrotating element 1 via a void 15, and thereby it is constituted so as to have both relatively rotated by a motor 16.
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公开(公告)号：JPH06266417A
公开(公告)日：1994-09-22
申请号：JP5030593
申请日：1993-03-11
Applicant: NAT AEROSPACE LAB , FUJITSU LTD
Inventor： WATANABE AKIRA , MATSUMOTO KOTARO , NAGASHIMA SHIRO , UCHIYAMA TAKASHI , INAMOTO YASUSHI , NAKAMURA YOSHITERU
Abstract: PURPOSE:To easily tabulate SOE(Sequence Of Events) on the basis of a casual relation of each work, with regard to the work plan determining system of a system. CONSTITUTION:A generating/editing means 1 generates a Petri Net by a command from an operator and stores it in a storage means 2. Also, at need, according to a command from the operator, the Petri Net stored in the storage means 2 is read in and edited. An analyzing means 3 executes a net contraction by applying a net contraction rule to the Petri Net stored in the storage means 2, and also, executes an analytic processing such as reachable tree generation and deadlock verification, etc. A data conversion output means 4 allows the Petri Net stored in the storage means 2 to be subjected to data conversion to SOE, and outputs it to a display device 110 or a printer 120 as necessary. A simulation means 5 executes a plotting dislay by simulation onto the display device with respect to the Petri Net stored in the storage means 2.
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公开(公告)号：JPH06262558A
公开(公告)日：1994-09-20
申请号：JP5030493
申请日：1993-03-11
Applicant: NAT AEROSPACE LAB , FUJITSU LTD
Inventor： MATSUMOTO KOTARO , YAMAGUCHI ISAO , NAKAMURA YOSHITERU
Abstract: PURPOSE:To enable a robot to do operation meeting user's needs by connection of an external computer in regard to a robot speed control system. CONSTITUTION:An external computer 3 is connected to a robot controller 2, finding speed data up to the next moving point of each articulation of a robot 1. These speed data are calculated on the basis of each articulate angle of the robot 1 to be fed so far out of, for example, a robot controller 2. This robot controller 2 receives the speed data outputted out of the external computer 3, outputting it to the robot 1, and thereby it operates each articulation of the robot 1 by means of the speed data. Thus, the external computer 3 is connected to the robot controller 2, whereby the speed data that could not be calculated so far, because of a shortage of power, only by dint of a processor of the robot controller 2 can be found out with the external computer 3. Accordingly, the robot 1 performs a yet more advanced operation on the basis of the speed data.
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公开(公告)号：JP2001330055A
公开(公告)日：2001-11-30
申请号：JP2000149512
申请日：2000-05-22
Applicant: JAPAN SCIENCE & TECH CORP , NAT AEROSPACE LAB
Inventor： MATSUMOTO KOTARO , OKAMI YOSHIAKI
Abstract: PROBLEM TO BE SOLVED: To provide a joint mechanism appropriate for a rotary joint to be used for a joint mechanism of a robot to be used in space, and to provide a rotary joint. SOLUTION: In this joint mechanism for transmitting the force from a primary side to a secondary side, an elastic body and a preload generating means for giving a selected preload to the elastic body are arranged between a primary side member and a secondary side member. The elastic body is energized by the preload selected by the preload generating means so that a phase difference between them becomes zero. When the force more than the selected preload is applied between both the members, this variable holding force joint is characterized to generate a phase difference between them.
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公开(公告)号：JP2001001283A
公开(公告)日：2001-01-09
申请号：JP17428699
申请日：1999-06-21
Applicant: NAT AEROSPACE LAB
Inventor： WAKABAYASHI SACHIKO , MATSUMOTO KOTARO
Abstract: PROBLEM TO BE SOLVED: To reduce the force in the non-tangential direction and increase the operational force by defining the differential vector between a present position and a command position as the predicted force regarded as the application amount.application direction of the theoretical force in the restricted trajectory work by a robot, and adjusting the direction of the application force to the trajectory tangential direction. SOLUTION: In the restricted work by a robot 7 in the space and the like, a command generating mechanism 3 is provided with a direct remote control supporting mechanism 4 for processing the past trajectory information and the operational information on a point of application of the robot 7 and converting an input value into a command value with the input assistant by a person. Further an automatic command producing mechanism 5 is mounted for producing a command value by processing the past trajectory information and the operational information on the point of application of the robot 7. The commands of both mechanisms 4, 5 are selected/synthesized by a command switching mechanism 6 and output, by defining the differential vector of a present position and a command position as the predicted force of the application amount.application direction of the theoretical force, and the direction of application force is adjusted to be agreed with the trajectory tangential direction.
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