著者

和田 正義 井上 雄介 平間 貴大

出版者

一般社団法人 日本ロボット学会

雑誌

日本ロボット学会誌 (ISSN:02891824)

巻号頁・発行日

vol.31, no.6, pp.591-598, 2013 (Released:2013-08-15)

参考文献数

14

被引用文献数

1 1

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This paper presents a new wheel mechanism for the active-caster drive system. The active-caster provides omnidirectional mobility with no using free rolling mechanism. The original active-caster equips with an absolute encoder to detect a wheel orientation and two motors for driving wheel and steering axis independently. A computer system needs to detect an absolute wheel orientation and coordinate velocity components for wheel and steering drive to provide wheel motion in an arbitrary direction. To simplify the wheel control system, a new active-caster mechanism is proposed. A proposed active-caster system includes a ball transmission to distribute a traction velocity to wheel and steering axis mechanically without using an angle sensor or coordinated motor control. In this paper, kinematics of the proposed wheel mechanism is analyzed and mechanical condition for realizing the caster motion is derived. A kinematic model of the proposed active-caster mechanism with a ball transmission is analyzed and a mechanical condition for realizing caster motion is derived. Based on the kinematic model and the mechanical condition, computer simulations of the mechanism are performed. In the simulations, the active-caster shows successful caster motions with no sensor or computer system.

著者

和田 正義 亀田 藤雄 斎藤 征道

出版者

公益社団法人 計測自動制御学会

雑誌

計測自動制御学会論文集 (ISSN:04534654)

巻号頁・発行日

vol.49, no.4, pp.417-424, 2013 (Released:2013-04-26)

参考文献数

15

被引用文献数

2

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This paper presents a study on steering control algorithm for a joystick car drive system. The joystick drive system allows a handicapped person to drive a car by using a joystick with small force and short stroke. However, a wrong joystick operation, such as a sudden and wide steering, when a vehicle running in a very high speed results in a car accident quite easily. The other hand, quite sensitive steering control is required around the center of steering angle when a car runs along a straight line. When parking a car, a large steering angle provides easier parking maneuvering to a driver. To realize these requirements and solve some problems, we propose a steering control method with variable steering sensitivity and steering limitation based on a vehicle velocity. First, a dynamic model of a car running with rotation to define a risk for rollover of a car. From the dynamic model, we get limitation of steering angles as a function of the vehicle velocity. The limitation function is verified by the drive test taken by the real van running on the public road including highway and parking lot. The control method is successfully implemented on a microcomputer based controller for the joystick car drive system.

著者

和田 正義 高木 昭 森 俊二

出版者

The Robotics Society of Japan

雑誌

日本ロボット学会誌 (ISSN:02891824)

巻号頁・発行日

vol.18, no.8, pp.1166-1172, 2000-11-15 (Released:2010-08-25)

参考文献数

11

被引用文献数

11 16

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In this paper, a new wheel mechanism for holonomic and omnidirectional mobile robots is presented. The caster drive technique is one of the feasible solutions to allow a vehicle to have holonomic and omnidirectional mobile capability with standard wheels. The caster drive is applied to a differential drive mechanism. A drive unit equips with two drive wheels driven by individual motors. The rotational stage, driven by the third motor, is mounted on the drive unit with its rotational center locating at the off centered position from the mid point of the two driving wheels. The translational position and velocity of a mobile base are controlled by the differential-drive mechanism executing a caster like behavior. The orientation of the mobile base is controlled by the rotational stage decoupled with the translational motion of the drive unit. The vehicle 3DOF are controlled by the three motors, hence the system includes no over constraint problem. In addition, the drive mechanism is very simple and could be implemented by using a traditional differential-drive mechanism.

著者

小島 航 和田 正義

出版者

一般社団法人 日本ロボット学会

雑誌

日本ロボット学会誌 (ISSN:02891824)

巻号頁・発行日

vol.40, no.6, pp.550-553, 2022 (Released:2022-07-20)

参考文献数

4

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In this study, we evaluated the effect of the parameter of interest on the dynamic characteristics of the electric wheelchair thorough the automatic running experiment excluding the influence of human maneuvering and the mathematical stability analysis with the aim of investigating the cause of the low straightness of the front-drive electric wheelchair. Furthermore, from the experimental results, it was clarified that it is possible to effectively improve the straightness of the front-wheel drive wheelchair by using a control method that cancels the influence of centrifugal force.

著者

和田 正義

出版者

The Robotics Society of Japan

雑誌

日本ロボット学会誌 (ISSN:02891824)

巻号頁・発行日

vol.25, no.7, pp.1100-1107, 2007-10-15 (Released:2010-08-25)

参考文献数

14

被引用文献数

6 9

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This paper presents modeling and control of omnidirectional mobile robots propelled by active-casters (poweredcasters) . This type of mobile robot is redundantly actuated since it is controlled by more than four motors while its configuration is represented by three DOF on the ground. The modeling method is generalized down to n-wheeled mobile robots and a unified modeling procedure is presented for flexible designs with variety of wheel layout. The kinematic model derived by proposed method enables continuous linear full state feedback control with no consideration for singular configurations of robots. Performances of three- and fourwheeled robots with full state feedback controllers and proposed kinematic models are tested by computer simulations. Furthermore, a three-wheeled robot prototype is design, built and tested for the verification of the proposed modeling and control method for omnidirectional mobile robots in the real world.

著者

松本 進平 和田 正義

出版者

公益社団法人 自動車技術会

雑誌

自動車技術会論文集 (ISSN:02878321)

巻号頁・発行日

vol.45, no.3, pp.527-531, 2014 (Released:2018-01-25)

参考文献数

3

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電気自動車普及のためには,低価格化と少ないバッテリ容量でより長距離の走行を可能にするための高効率化が必須である.本論文では,DCモータとCVT(無段変速機)を組み合わせた低価格な省エネルギー駆動システムを提案し,シミュレーションによる妥当性の検証結果を報告する

著者

匂坂 真依人 和田 正義 杉山 高聖

出版者

一般社団法人 日本機械学会

雑誌

ロボティクス・メカトロニクス講演会講演概要集

巻号頁・発行日

vol.2018, pp.1P2-E14, 2018

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<p>This paper is a study on power assist suit. We have developed an electric power assist device that has compliance to users. Next, we constructed a control system in which the assist device follows the movement of a human user. Then, we devised a control system that detects and automatically supports the movement of the user lifting up. In addition, in order to support multiple tasks of users, we constructed a system that automatically supports the action of climbing stairs. We confirmed that the intended action of PAS was realized by experiments.</p>

著者

宮本 和典 和田 正義

出版者

一般社団法人日本機械学会

雑誌

ロボティクス・メカトロニクス講演会講演概要集

巻号頁・発行日

vol.2014, pp."1P1-N06(1)"-"1P1-N06(4)", 2014-05-24

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This paper presents plug-in automatic charge of omnidirectional mobile robot with active casters. In this system, a camera on the robot detects an outlet on wall and a plug on the robot is inserted in the outlet by only movement of robot. Because this system needs no stations for automatic charge of robot, this system provides space saving and improvement of efficiency for robot task. Outlet is detected by feature values of contours. Distance and angle of outlet are measured by geometric relation of object and picture. Furthermore, it is confirmed that camera enables robot to approach outlet by experiment. Hereafter, robot will be installed plug and experiment of plug-in automatic charge will be tried.

著者

和田 正義 森 俊二

出版者

日本ロボット学会

雑誌

日本ロボット学会誌 (ISSN:02891824)

巻号頁・発行日

vol.15, no.8, pp.1139-1146, 1997-11-15 (Released:2010-08-25)

参考文献数

11

被引用文献数

7 13 5

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This paper presents a new type of holonomic and omnidirectional mobile robot. A steered driving wheel for holonomic and omnidirectional robots is proposed which has an offset distance between the steering axle and the wheel axle along a direction of wheel traveling like a caster which can use a conventional tires (a rubber tire or a pneumatic tire) . A kinematics of the wheel mechanism is analyzed and a new control strategy is introduced to avoid a nonholonomic constraints on the wheels. The driving wheel realizes an active ”caster motion”which enables 2DOF motions in the two dimensional plane. The concept of a holonomic robot with the proposed driving wheels is implemented and tested on a two-wheeled vehicle prototype. Experimental results show that the prototype robot realizes smooth holonomic and omnidirectional motions and precise mobility.