著者
岩谷 正義 菊植 亮 山本 元司
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.32, no.5, pp.445-455, 2014 (Released:2014-07-15)
参考文献数
23
被引用文献数
2 5

This paper proposes a friction model for friction compensation of harmonic drive gearings. The model is composed of parallel viscoelasto-plastic elements and rate-dependent viscosity. Comparative experiments between the proposed model and the Generalized Maxwell slip (GMS) model have shown that the proposed model is advantageous especially in the region of presliding displacement. This paper also presents parameter identification method for the model.
著者
杉原 知道 舛屋 賢 山本 元司
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.3, pp.251-262, 2013 (Released:2013-05-15)
参考文献数
15
被引用文献数
3 4

A high-fidelity attitude estimation technique is proposed for mobile robots which move irregularly in wide space, where heterogeneous inertial sensors are combined in a complementary way in the frequency domain. While the working frequency ranges of each sensor are not necessarily complementary, inverse models of them compensate the sensor dynamics and enlarge their effective working ranges. The problems to be addressed are that the sensor dynamics displays a highly nonlinear property in the case of 3D rotation, and, even if it is approximated by a linear system, the inverse models of them tend to be non-proper and unstable. An idea is to decouple it into the dynamics compensation part approximated by a linear transfer function and the strictly nonlinear coordinate transformation part. By inserting the designed filter before the coordinate transformation, the total transfer function is guaranteed to become proper and stable. Particularly, the differential operator of a high-pass filter cancels the integral operator included in the dynamics compensation of the rate gyroscope, which causes instability.
著者
山本 元司 岩村 誠人 毛利 彰
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.16, no.8, pp.1123-1130, 1998-11-15 (Released:2010-08-25)
参考文献数
12
被引用文献数
1

This paper proposes a planning method for time-optimal trajectories of mobile robots. A dynamical model for two independently driven wheels type mobile robots is derived. Using an idea of path parameter, optimal trajectory for specified path of mobile robot is easily obtained considering dynamical constraints such as driving torques and velocities. An efficient collision-free near-time-optimal trajectory planning method is proposed using a local optimization method and a global search method of initial paths. The B-spline parameter optimization method is used as a local optimization. Some numerical examples show an effectiveness of the proposed planning method.