著者

田中 幸悦 高野 賢大朗 梶谷 誠 金森 哉吏

出版者

一般社団法人日本機械学会

雑誌

日本機械学會論文集. C編 (ISSN:03875024)

巻号頁・発行日

vol.65, no.634, pp.2398-2404, 1999-06-25

---

The authors have proposed a marking robot which draws specific marks at designated positions on a ceiling board at construction siteS. After that, a new function was added to the robot. It is necessary to be work which draws a reference straight-line to a ceiling board in building construction sites. This report proposes about the method which makes this task do for a mobile robot. The system is composed of the standard laser, the prototype of Straight-line Drawing Unit (SLD Unit) which has a function of tracking the laser beam and a function of drawing, and the mobile robot. The robot loads the SLD Unit and moves toward the standard laser. In order to catch the standard laser beam, the robot changes its trajectory. The robot controls its two drive wheels in a way that allows each wheel to move independently, so it can trace a straight line. Based on the experiments, the robot could the task of drawing the amplitude of the straight line with an accuracy of plus or minus 1 mm when drawing a 10 m line. This paper mainly describes the SLD Unit and the wheel control, and presents the experimental results of marking by the robot.

著者

田中 幸悦 梶谷 誠 金森 哉吏 阿部 靖則

出版者

一般社団法人日本機械学会

雑誌

日本機械学會論文集. C編 (ISSN:03875024)

巻号頁・発行日

vol.69, no.679, pp.676-682, 2003-03-25

被引用文献数

2

---

We are developing positioning systems for mobile robots working at construction sites. In earlier work, we investigated the use of pillars as reference points at construction sites for a position recognition system, and reported on the performance of a prototype system. To further increase the flexibility of the robot system, we have developed a new self-position measurement system for the mobile marking robot. This new system is aimed at expansion of the work area of the marking robot. The system is composed of a prototype of a laserpointer robot and a marking robot with laser-spot detectors. The marking robot uses a point of laser light projected onto it by the laser-pointer robot, placed at a reference point, to determine its position. This report outlines the method for the self-position measurements and describes the performance of the system in a field test.

著者

飛田 和輝 金森 哉吏 大久保 祐人 小川 博教 杉田 澄雄

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 2011 (ISSN:24243124)

巻号頁・発行日

pp._1P1-E08_1-_1P1-E08_4, 2011-05-26 (Released:2017-06-19)

---

We have proposed a new three dimensional environment recognition method using conical scanning distance measurement for 3-D mobile robot that can walk up and down the stairs. This report describes the method to recognize the stair by applying the conical scanning method. The procedures are as follows. 1) Recognizing the positions and postures of multiple regions on 3D-TOF-camera. 2) Linking neighboring regions by using image processing. 3) Extracting the step based on height information. 4) Calculating the position, direction and width of the stair. We devised the algorithm, implemented, and experiments were carried out.

著者

飛田 和輝 大平 貴之 梶谷 誠 金森 哉吏 明 愛国

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.1, pp.96-100, 2001-01-05 (Released:2009-04-10)

参考文献数

9

被引用文献数

1 1

---

In this paper, a new kind of rotary encoder based on magneto-optical storage method is proposed. By using this method, a rotary encoder with small size, high accuracy and high response can be realized. MO encoder is more advantageous than a magnetic scale and optical encoder according to its high response and its high accuracy, respectively. High accuracy can be achieved by rerecording, therefore the error is corrected. Following issues are described: (1) A device for record, playback and evaluation of accuracy of MO encoder has been developed. (2) A necessary condition for record and playback for MO encoder was experimentally derived. (3) The MO encoder made for trial purposes was recorded by 2250 pulses per revolution directly from the referential encoder, as a result, accuracy of 2.5" and reproducibility of 0.079" were achieved.

著者

飛田 和輝 大平 貴之 梶谷 誠 金森 哉吏 明 愛国

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.12, pp.1976-1980, 2001-12-05 (Released:2009-04-10)

参考文献数

5

被引用文献数

1 1

---

The feasibility for fabricating a magneto-optical rotary encoder (MO encoder) has been shown in our previous paper. In this paper, an error corrected recording method to improve accuracy of the MO encoder is described. The recording method utilizes one feature of MO encoder, that is, ability for re-recording. First, an initial recording is made directly from referential encoder to MO encoder and angular errors of the MO encoder are measured. According to the errors, correcting values for canceling the errors are calculated based on Fourier components analysis. Finally, the MO encoder is re-recorded by the correcting values after erasing the initial recording. As the result of experiments, an accuracy of 1.3" for 2250 pulse/rev. and 1.7"for9000 pulse/rev. was achieved by using the error corrected recording method.