公开(公告)号：JP2001287189A

公开(公告)日：2001-10-16

申请号：JP2000108346

申请日：2000-04-10

Applicant: NAT AEROSPACE LAB

Inventor： OKAMOTO OSAMU ,  NAKATANI TERUOMI ,  KAMIMURA HEIHACHIRO ,  YAMAGUCHI ISAO ,  SUZUKI SEIZO ,  YABUUCHI NORIYOSHI ,  UENO JUNICHI ,  USUI YASUKI ,  NAGANO HIROAKI ,  RENBUTSU KATSUHIKO ,  ISAKI MITSUHARU

IPC: B25J19/02 ,  A61G12/00 ,  B25J5/00 ,  B25J9/00 ,  B25J9/06 ,  B25J9/22 ,  B25J13/08 ,  G01L1/20 ,  G01L5/00 ,  G01L5/22

Abstract: PROBLEM TO BE SOLVED: To provide a contact sensor that can measure the distribution of pressures throughout the surface of each joint unit forming a robot arm and having cylindrical shapes cut with an offset angle at both ends, and provide a technology that can control the driving of the robot arm on a real-time basis with detection values from the sensor. SOLUTION: A pressure-sensitive sheet sensor comprising a combination of row electrodes arranged parallel and column electrodes arranged in a bobbin form distributes the electrode nodes throughout the surface of each joint having cylindrical shapes cut with an offset angle at both ends. An electrode structure covering given widths along the columns and rows decreases the number of output signal terminals to thus lessen the burden of arithmetic processing. The pressure-sensitive sheet sensor, an encoder and an information processing means disposed for each joint execute local processing before sending the results to a CPU to thus lessen the burden of central arithmetic processing.

公开(公告)号：JPH07110864A

公开(公告)日：1995-04-25

申请号：JP25548093

申请日：1993-10-13

Applicant: NAT AEROSPACE LAB ,  FUJITSU LTD

Inventor： MORITA TOSHIHIKO ,  INAMOTO YASUSHI ,  UCHIYAMA TAKASHI ,  OKAMOTO OSAMU ,  YAMAGUCHI ISAO ,  GOMI HIROMI

IPC: G01P13/00 ,  G06T5/20 ,  G06T7/20

Abstract: PURPOSE:To make it possible to detect a mobile object even when a background is rotated, magnified or reduced by applying a two-dimensional Laplacian filter to a movement vector field and judging an area whose output value is larger than a threshold as a mobile object. CONSTITUTION:At least two moving pictures are time sequentially and continuously inputted (S1). A movement vector field is measured by various methods (S2). A two-dimensional plane taking a movement vector in the movement vector field as an element is generated (S3). A Laplacian filter LF having a positive value on its center part and a negative value on its peripheral part is applied to the two-dimensional plane (S4). As a result, only a part with movement different from the periphery has a large sized vector. Only the resultant size of the obtained vector is stored in the two-dimensional plane, threshold processing is applied to the two-dimensional plane so as to leave only the part having a large value and set up the other part to '0' (S5). As for the part having the large value, the positional information of the mobile object, and the size and direction of the movement vector are outputted at need (S6).

公开(公告)号：JP2002245439A

公开(公告)日：2002-08-30

申请号：JP2001044546

申请日：2001-02-21

Applicant: NAT AEROSPACE LAB OF JAPAN MEX

Inventor： SASA SHUICHI ,  GOMI HIROMI ,  YAMAGUCHI ISAO ,  NINOMIYA TETSUJIRO ,  HAMADA YOSHIRO

IPC: G06T1/00 ,  G06T15/00 ,  G06T17/05 ,  G06T17/50

Abstract: PROBLEM TO BE SOLVED: To develop a high speed solution calculating method that does not need repeated calculations and also to provide a system for performing the high speed solution calculating method in a shape reproducing method for find ing out the shape of an object from the shadow of a gradation image acquired by a monocular camera. SOLUTION: This shape reproducing method from shadows employs the relational expression of the Tsai and Sha method obtained by modeling the relation among the luminance value of a lattice point (i and j) of an image obtained by photographing the object that is illuminated by parallel rays from a known direction and has known reflectance with the monocular camera, the inclinations (pi,j and qi,j) of the object at the lattice point and shape depth coordinates zi,j, and comprises a step for obtaining an approximate expression by substituting pi,j=zi,j-zi-1,j, and qi,j=zi,j-zi,j-1 by linear approximation for inclinations, a step for squaring the approximate expression, a step for obtaining zi,j as the solution of a quadratic expression with respect to the zi,j, and a step for totalizing individual lattice points, and obtains a solution not with the respected calculations but with a single calculation.

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

IPC: B25J9/10 ,  B25J13/00

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.

公开(公告)号：JPH01254500A

公开(公告)日：1989-10-11

申请号：JP13559488

申请日：1988-06-03

Applicant: NAT AEROSPACE LAB ,  TOSHIBA CORP

Inventor： KIDA TAKASHI ,  YAMAGUCHI ISAO ,  HIRAKO KEIICHI ,  UENO SEIYA ,  TANAKA MASAKI

IPC: G01M13/00 ,  B64G7/00 ,  F16F15/02 ,  F16F15/03

Abstract: PURPOSE:To simply the constitution and to enable realization of an accurate gravity-free ground test on a ground, by a method wherein an actuator is driven and controlled according to a weight compensation value and an energy loss compensation value, both calculated from a detecting value. CONSTITUTION:When vibration of a mounting body 11 is detected to output it to a controller 8, a driver signal 18a is produced to output it to a second adder 17. Simultaneously, a rotation angle detecting sensor 12 detects the rotation angle of a rotary shaft 10e, outputs it to an overcurrent compensator 16 through a differentiator 15, and an overcurrent compensation signal 16a is generated to output it to the second adder 17. A detecting signal from the rotation angle detecting sensor 12 is inputted to a gravity compensator 13 to generate a gravity compensation signal 13a which is outputted to a first adder 14. The first adder 14 adds an output signal from the second adder 17 and the gravity compensation signal 13a to output it to a driver 19. When a given amount of a current is fed to a coil (b) of an actuator 10 according to an input signal therefrom, the coil (b) and an inertia mass 10c are driven in a false gravity-free state in which gravity is rendered ineffective.

公开(公告)号：JP2002326174A

公开(公告)日：2002-11-12

申请号：JP2002126392

申请日：2002-04-26

Applicant: NAT AEROSPACE LAB

Inventor： OKAMOTO OSAMU ,  NAKATANI TERUOMI ,  KAMIMURA HEIHACHIRO ,  YAMAGUCHI ISAO

IPC: B25J9/10 ,  B25J9/06

Abstract: PROBLEM TO BE SOLVED: To allow smooth operation with simple route generation and high response speed even in an advanced articulated robot having complicated and accurate movement. SOLUTION: In this method of controlling the advanced articulated robot having complicated and accurate movement by an offset rotating joint, the operating area of an end effecter 3 is divided into a plurality of blocks B, and the operating conditions of the joints required to move to specified blocks are stored as a data base for each block. The teaching of operation points in the specified block area is stored as a data base. Up to the block of a working area, the route is created based on block area data. When the generation reaches the reference point of the block, working point data in the block is called to determine the operations of the joints.

公开(公告)号：JP2001138279A

公开(公告)日：2001-05-22

申请号：JP31933499

申请日：1999-11-10

Applicant: NAT AEROSPACE LAB

Inventor： OKAMOTO OSAMU ,  NAKATANI TERUOMI ,  KAMIMURA HEIHACHIRO ,  YAMAGUCHI ISAO

IPC: G05B19/18 ,  B25J9/06 ,  B25J9/10 ,  B25J9/16 ,  B25J13/00 ,  B25J17/00 ,  B25J17/02

Abstract: PROBLEM TO BE SOLVED: To provide a high-functional articulated robot having an offset rotary joint of small and light construction and bearing a high torque and capable of making complicated and precise motions with a high payload, whereby track preparation can be made simply and smooth operations with quick response be performed even of the required motions are complicated. SOLUTION: A high reduction ratio transmitting and torque increasing mechanism is adopted to a rotation transmitting mechanism provided inside each joint of an offset rotary joint so that adoption of a small-sized motor is made practicable, and motion region of an end effector 3 is divided into a plurality of blocks B and the motion conditions of each joint required to make movement to the specified block are turned in database block while the instruction of working points in the specified block region is turned in database, and track preparation is made in the basis of the block region data till the block of the working region, and when the reference point of the block is attained, the intra-block working point data is called and the motion of each joint is decided.