著者

寺嶋 一彦

出版者

公益社団法人 日本鋳造工学会

雑誌

鋳造工学 (ISSN:13420429)

巻号頁・発行日

vol.72, no.1, pp.47-56, 2000-01-25 (Released:2014-12-18)

参考文献数

31

被引用文献数

3

著者

鈴木 裕一 鈴木 薪雄 寺嶋 一彦

出版者

一般社団法人 日本機械学会

雑誌

「運動と振動の制御」シンポジウム講演論文集

巻号頁・発行日

vol.2001, pp.452-455, 2001

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This paper is concerned with a human interface between a human operator for decision-making of obstacle avoidance and a crane transferring an object. A semi-automatic control system is proposed in terms of a diffusion equation strategy in order to check and revise the reference trajectory directed by human operator for obstacle avoidance. Moreover, this system includes an optimal servo controller to suppress the sway of the transfer object and to control the cart velocity. The usefulness of the proposed method is demonstrated through experimental studies.

著者

北川 秀夫 大野 貴 三好 孝典 寺嶋 一彦

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.27, no.3, pp.343-349, 2009 (Released:2011-11-15)

参考文献数

14

被引用文献数

2 2

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Holonomic omnidirectional mobile robot is useful with its high mobility in narrow or crowded place, and omnidirectional robot equipped with normal tires is desired for difference excess, vibration suppression and riding comfort. Caster-drive mechanism using normal tire has been developed to realize a holonomic omnidiredctional robot, however, there remains some problems. This paper presents effective systems to control the caster-drive wheels of omnidirectional mobile robot. Two kinds of Differential-Drive Steering System (DDSS) are proposed to improve the operation ratio of motors. One is using bevel pair gear and the other is using planetary gear to generate driving and steering torque effectively from two motors. Simulation results show the proposed system is effective for holonomic omnidirectional mobile robots.

著者

三好 孝典 今村 孝 上 泰 真下 智昭 石橋 豊 小山 慎哉 上木 諭 寺嶋 一彦 兼重 明宏 青木 悠祐 北川 秀夫 三枝 亮 大場 譲 河合 康典

出版者

豊橋技術科学大学

雑誌

基盤研究(B)

巻号頁・発行日

2015-04-01

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マスターである人間の運動や力覚を遠隔地において忠実に再現しようとするロボットをテレコピーロボットと定義したとき,自身のコピーロボットが遠隔地に存在し,その遠隔地に居る人間(マスター)のコピーが目前に存在する環境において,1.テレコピーロボットの概念の提示と,それを実現するための全方向移動機能を有した双腕コピーロボットの製作.2.通信遅延に対して安定な4chバイラテラル制御アルゴリズムの提案と実装.3.コピーロボットによるバイラテラル遠隔制御の実現.を行い,目前のコピーロボットを通じてあたかも遠隔地のマスターと直接力学的インタラクションをしているかのような体験が実現可能であることが実証された.

著者

上木 諭 山内 悠 兼重 明宏 三好 孝典 寺嶋 一彦

出版者

一般社団法人 日本機械学会

雑誌

日本機械学会論文集 (ISSN:21879761)

巻号頁・発行日

vol.83, no.855, pp.17-00237-17-00237, 2017 (Released:2017-11-25)

参考文献数

17

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In the steel/casting industries, a liquid container transport is carried out by an overhead traveling crane or a trolley. The operation of the overhead traveling crane is carried out both operation by the experience operator and operation by automated transportation in order to prevent quality deterioration due to the overflow and involvement in a hostile environment. In particular, the overhead crane transportation by the operator, which is allowed to select freely pathway, is needed from the point of freedoms of the operation. This paper presents a design of a liquid container transport control system with an overhead traveling crane, which is allowed to operate by an inexperienced operator easily. The presented control system is designed as to suppress both the rod vibration and the sloshing (liquid vibration) without measuring the sloshing. The presented control system is two DOFs controller, the feed-forward controller is based on two notch filter, and the feedback controller is based on the H2/H∞ controller design method using LMI. The derived controller is performed a controller order reduction in consideration with practical use. Some experiments are presented to show the effectiveness of the proposed design of control system.

著者

上野 祐樹 北川 秀夫 柿原 清章 寺嶋 一彦

出版者

一般社団法人 日本機械学会

雑誌

日本機械学会論文集C編 (ISSN:18848354)

巻号頁・発行日

vol.78, no.789, pp.1872-1885, 2012 (Released:2012-05-25)

参考文献数

11

被引用文献数

6

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Holonomic omni-directional mobile robots are very useful at narrow or crowded areas because of their high mobility performance, and omni-directional mobile robots equipped with normal tires are desired for their ability to surmount the difference in ground level as well as their vibration suppression and ride comfort. Up to the present, the caster-drive mechanism using normal tires has been developed to realize a holonomic omni-directional mobile robot, but some problems have been left. In this paper, we present an effective system to control the electric caster-drive wheel of omni-directional mobile robots, Differential Drive Steering System (DDSS) using differential gearing is proposed to improve the operation ratio of motors. The proposed DDSS generates the driving and the steering outputs effectively from utilizing two motors. Simulation and experimental results show that the proposed system is effective for both of the mobility and energy saving.

著者

伊藤 敦 田崎 良佑 鈴木 薪雄 太田 和弘 寺嶋 一彦

出版者

公益社団法人 日本鋳造工学会

雑誌

鋳造工学 全国講演大会講演概要集

巻号頁・発行日

vol.168, pp.134-134, 2016

著者

戸田 貴弘 矢野 賢一 寺嶋 一彦

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.2002, 2002

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鋳造業における注湯作業は高温で危険であるにも関わらず自動化が遅れている。今回開発した自動注湯ロボットは, 搬送時には, スロッシングを発生させないで取鍋を搬送する。注湯時には, 鋳込み速度を向上させるため, 湯ロカップ内の液体を短時間で高いレベルまで立ち上げ, 保持する。取鍋の重量と傾動速度から, 流量予測制御により目標注湯量となるように湯切りをおこなう。また, 湯切り時にもスロッシングを抑制する。これらの一連の制御を研究室レベルの実験装置に適用して, 有効性を示す。

著者

増井 陽二 三好 孝典 寺嶋 一彦

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.45, no.2, pp.83-90, 2009-02-01 (Released:2011-11-02)

参考文献数

11

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An entirely novel shape measurement method to obtain 3D shapes is proposed, based on a bilateral vibration touch probe that outputs feedback voltage in accordance with its position. A bilateral vibration touch probe, with high-stiffness, is developed. The proposed probe consists of a piezo-electric device and a thin needle, and generates feedback voltage according to the relative distance from the object. The structure of this probe is simple, so that it is able to withstand high rates of acceleration during the measurement process. The shape measurement is performed in an object of unknown shape and the shape of the object can be found by scanning the object surface. Moreover, a nonlinear synchronous multi-axis control algorithm is proposed in order to scan the surface of arbitrary objects and measure their 3D shape. The effectiveness of the proposed algorithm is demonstrated through experiments. When actual width of 1 mm was measured using the proposed nonlinear synchronous multi-axis control, a minimum error of 21.7 µm was obtained.