著者

藤岡 潤 青柳 誠司 石井 一久 関 啓明 神谷 好承

出版者

公益社団法人精密工学会

雑誌

精密工学会誌 (ISSN:09120289)

巻号頁・発行日

vol.67, no.4, pp.676-682, 2001-04-05

被引用文献数

1 5

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A 6-DOF articuiated robot (PUMA 560) is calibrated by using a taser tracking system according to the multiple positioning method and the effectiveness of this system is certified. A method which calibrates only angle parameters is newly proposed, since there is a possibility that true values of length parameters are directly measured by some other methods. The relationship between sensibility index and the number of measurement are simulated and it is inferred that 10 random measurements with fixed orientation is enough in case of calibrating only angle parameters and 20 random measurements with random orientation is enough in case of calibrating both angle and length parameters. The combination method which obtains length parameters by the joint axis estimating method and calibrates angle parameters by the multiple positioning method is experimentally developed. The accuracy of the combination method and that of the normal multiple positioning method are experimentally investigated. From the results, the effectiveness of the strategy of how to select parameters, number and pose (position and orientation) of measurement, which is mentioned above, is experimentally confirmed. The accuracy of 0.12mm is achieved in wide area and this value is better than already reported ones about PUMA 560.

著者

青柳 誠司 藤岡 潤 石井 一久 関 啓明 神谷 好承

出版者

公益社団法人精密工学会

雑誌

精密工学会誌 = Journal of the Japan Society of Precision Engineering (ISSN:09120289)

巻号頁・発行日

vol.65, no.7, pp.1035-1040, 1999-07

参考文献数

12

被引用文献数

1

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Aiming at realizing off-line programming, many researches of improving robot's accuracy by calibrating the kinematic parameters of a robot are being carried out now. For an effective calibration it is necessary to measure the position of the tip of a robot arm precisely in a comparatively wide area. Although a laser tracking system is regarded as the most practical measuring system for this purpose in ISO 9283, there is no report yet which actually applies this system to the robot calibration. In this paper a 6-DOF articulated robot is calibrated by using a laser tracking system according to the joint axis estimating method and the effectiveness of this system is certified. A method of estimating the accuracy which refers to the robot base coordinate system is proposed. It is proved experimentally that the accuracy of the robot before calibration is worse than 3mm. The robot after calibration is positioned to the limited grid which is in the area near the initial pose of the calibration and to the wide grid. The accuracy in the limited grid is improved to be 0.27mm by the calibration, however the accuracy in the wide grid is worse compared with that in the limited grid. From this result it is proved that the joint axis estimating method is not so effective except for the neighborhood of the initial pose.

著者

青木 勝詔 鈴木 恵友 高梨 久美子 石井 一久 SATYANARAYANA B. S. 尾浦 憲治郎 古田 寛 古田 守 平尾 孝

出版者

一般社団法人 日本真空学会

雑誌

真空 = JOURNAL OF THE VACUUM SOCIETY OF JAPAN (ISSN:05598516)

巻号頁・発行日

vol.49, no.7, pp.430-432, 2006-07-20

参考文献数

8

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&nbsp;&nbsp;A novel method to make the sharp emitter tips having low threshold voltage of field emission was achieved using nanodiamond particles on conductive amorphous carbon films. A conductive tetrahedral amorphous (ta) carbon film and nano-sized diamond particles with the size of 50 to 200 nm were sequentially deposited by cathordic arc method using a glass substrate at room temperature. Tip structure with the height of 10 to 40 nm was formed by H₂ plasma etching of the diamond particles/ta-C double layer film. The threshold voltage of the field emission from the tip structures formed by the H₂ plasma etching was 3 V/&mu;m that was significantly lower than 10.4 V/&mu;m for the as-deposited diamond particles/ta-C double layer carbon film. This selective dry etching method using the nano-diamond particles could fabricate sharp and high density nano-sized diamond emitters on conductive ta-C films without any photo-masks of lithography processes.<br>

著者

石井 一久 高島 三幸

出版者

日経BP社 ; 2002-

雑誌

日経ビジネスassocie (ISSN:13472844)

巻号頁・発行日

vol.14, no.10, pp.70-72, 2015-09

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第15回日米通算182勝の大記録を成し遂げた元メジャーリーガーの石井一久さん。世界の舞台で臆することなく、実力を100%発揮するための思考法を聞いた。text by 高島三幸 + photographs by 一井りょう──前回、石井さんは22年間の野球生活で、挫折を感じたこと…