著者

王 樹華 明 愛国 牧野 洋 清水 晃

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.60, no.4, pp.544-548, 1994-04-05 (Released:2009-06-30)

参考文献数

5

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A teaching robot has been developed for the purpose of sophisticated teaching operations, such as to input technical skill of artist or artisan when machining industrial art objects. To realize easy operation, the teaching robot is constructed with a seven D.O.F. articulated mechanism and a two D.O.F. working table, in total has nine D.O.F. To improve teaching accuracy, error analysis and calibration for all geometric parameters are performed. As the results of experiments, an accuracy of 0.75mm(±3σ) by the teaching robot has been obtained. In this paper, error analysis of the teaching robot and geometric error model of it are discussed. Calibration algorithm and accuracy estimation are described also. Finally, an example of teaching and playback is shown.

著者

牧野 洋

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.71, no.10, pp.1223-1223, 2005-10-05 (Released:2009-04-10)

著者

古屋 信幸 相馬 勝男 陳 栄進 牧野 洋

出版者

公益社団法人 精密工学会

雑誌

精密機械 (ISSN:03743543)

巻号頁・発行日

vol.49, no.7, pp.835-841, 1983-07-05 (Released:2009-07-23)

参考文献数

3

被引用文献数

2 8

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The Selective Compliance Assembly Robot Arm (SCARA) is a newly developed robot for the use of small-lot batch assembly. In the previous report the characteristics of selective compliance effect were discussed and the experimental results on insertion were shown. The robot is controlled by an 8-bit microcomputer. In this report the hardware and the software of the controller are discussed. An arbitrary motion curve similar to a cam curve is used to move arms, and two axes are driven synchronously by the softwared DDA. Thus smooth movement is obtained. The results on repeating positioning accuracy, residual vibration and acceleration characteristics are shown. In spite of utilizing a low level microcomputer, the robot could obtain a sufficient speed up to 0.5 m/s which almost corresponds to the speed of a human operator.

著者

牧野 洋 加藤 顕剛 山崎 保範

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.23, no.2, pp.148-154, 2005-03-15 (Released:2010-08-25)

参考文献数

1

著者

蘭 豊礼 玉井 博文 牧野 洋

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.76, no.10, pp.1194-1199, 2010-10-05 (Released:2011-04-05)

参考文献数

9

被引用文献数

2 10

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This paper describes trajectory design using clothoid segments. As a trajectory path, clothoid is superior to the other curves because its curvature varies linearly with its curve length. However, a single clothoid segment is not able to match both tangent and curvature designation at its terminals because it has no sufficient parameters. In our study, “triple clothoid” is introduced to match both tangent and curvature designations. The triple clothoid is a set of three clothoid segments connected internally with curvature continuity. It has sufficient parameters needed for tangent and curvature matching at its terminals. The triple clothoid segments are used to construct a smooth transition passing through arbitrary point sequence. The resultant trajectory possesses curvature continuity and matches all tangent and curvature designations at the giving points. Those results are extended from two-dimensional (2D) to three-dimensional (3D) space. In 3D space, a predefined 3D clothoid is used to construct triple 3D clothoid. The resultant 3D trajectory also possesses kinematical superiority because of its differential linearity in both pitch and yaw angles. The triple clothoid can also be used for connecting two straight segments with curvature continuity.

著者

蘭 豊礼 玉井 博文 三浦 憲二郎 牧野 洋

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.78, no.7, pp.605-610, 2012-07-05 (Released:2013-01-05)

参考文献数

20

被引用文献数

2 1

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In two-dimensional(2D) space, the clothoid is a preferred trajectory curve because its curvature varies linearly with its curve length. However, in three-dimensional(3D) space, both curvature and torsion must be considered. This paper deals with path generation using linear curvature and torsion segments which can be considered a 3D extension of the 2D clothoid. In our study, the path segments are generated by solving the Frenet-Serret equation. In every path segment, its curvature and torsion varies linearly with its curve length. In order to obtain more free parameters, plural curve segments are connected in series to make a compound curve. The curve is used to connect two given points which may have given Frenet-Frame, curvature and torsion constraints. These curves are also used to construct a smooth transition passing through an arbitrary point sequence. The resultant path possesses C2 as well as torsion continuity and matches all given Frenet-frame, curvature and torsion constraints at the given points.

著者

今瀬 憲司

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.23, no.2, pp.165-167, 2005-03-15 (Released:2010-08-25)

参考文献数

4

著者

仇 時雨 牧野 洋 須田 大春 横山 恭男

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.8, no.6, pp.680-687, 1990-12-15 (Released:2010-08-25)

参考文献数

9

被引用文献数

2 3

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This paper describes the study on free curve interpolation using Clothoidal curve, which gives a new tool for high-speed continuous path control. Control schemes are proposed for the manipulator to pass the given series of points smoothly at a constant-speed. In the problem formulated a criterion of limiting curvature during the entire path of motion. The Clothoid or Cornu spiral is a planar curve which is used in high-way design. Its curvature is proportional to the length of the curve measured from the origin of the spiral. Using Clothoid segments, the point series interpolation method is established and by applying this method to the welding, painting, sealing and bonding robots, it is expected to obtain the faster continuous path motion. Theoretical analysis is given and some calculated results are shown.

著者

汐崎 勤 牧野 洋

出版者

公益社団法人 精密工学会

雑誌

精密機械 (ISSN:03743543)

巻号頁・発行日

vol.45, no.530, pp.148-153, 1979-02-05 (Released:2009-06-30)

参考文献数

3

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It is frequently observed that a PTP (point-to-point) robot shows unexpected singular motion in case of large displacement. This is because of the controlling method used whichattempts to give the maximum speed to any axis. In this report another method of controllingis proposed, which gives the same motion characteristics to all axes in the same period, justlike as cam-controlled. Computer simulation has proved that the resultant hand motion isvery similar to the given axes motion, and the motion locus is smooth and has no singularityby utilizing this method.

著者

明 愛国 清水 晃 牧野 洋

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.60, no.1, pp.91-96, 1994-01-05 (Released:2009-06-30)

参考文献数

3

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A robot machining system for industrial art objects has been developed. The objective of the system is both to make good use of technical skill of artist or artisan, and to realize the automation of machining of industrial art objects. The developed system is composed of three units: (i) input unit to record the machining data of artist or artisan directly, or to measure the model of an industrial art object; (ii) data processing unit to generate and modify model from the input data, and to transform model data into machining data; (iii) machining unit to machine industrial art objects according to obtained machining data. In this paper, the general philosophy about the system is given, and the construction of developed system, design policy and functions of each unit are described. An example of machining experiments is given to show the practical availability of the system.

著者

明 愛国 張 同庄 山本 唯司 古屋 信幸 村田 誠 牧野 洋

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.55, no.9, pp.1615-1620, 1989-09-05 (Released:2009-10-08)

参考文献数

5

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The spherical SCARA robot is a newly developed robot for the operation on curved surface, especially on a sphere. In the previous report the basic concepts and characteristics are analysed. In this report the construction and specification of the prototype of the spherical SCARA robot are discussed. Then the hardware and software for controlling the prototype are considered. An arbitrary motion curve can be used to move arms and three axes are driven synchronously by the softwared DDA to obtain smooth movement. The methods to obtain large circle path and straight line path on the sphere are shown. It is possible to obtain any other paths by the method, as an example the stitching curve of the baseball is obtained.

著者

明 愛国 古屋 信幸 牧野 洋

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.54, no.7, pp.1265-1271, 1988-07-05 (Released:2010-01-27)

参考文献数

5

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A new type robot called “Spherical SCARA (Spherical Selective Compliance Assembly Robot Arm) Robot” for the use of operations on a spherical plane has been developed. The robot has basically three joints (two rotational and one translational). It has the characteristic construction of “selective compliance”, that means, the compliance in the normal direction to the working sphere is small, and which in the tangent plane and for momental force are large. With this construction the robot is adaptable to assembly operations, especially for insertion. In this report basic concepts on the robot are given, and several characteristics (coordinates transformation, singularity, compliance, positioning resolution, dynamics) are discussed.

著者

寺田 英嗣 石田 和義 地場 広幸 牧野 洋 入江 禀三

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.11, pp.1829-1833, 2001-11-05 (Released:2009-04-10)

参考文献数

7

被引用文献数

1

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Trochoidal sprocket for roller chain drive system has been developed which is used for a positioning mechanism. This system consists of a conventional roller chain and a pair of trochoidal sprockets. These sprockets are generated using trochoidal loci, which the tooth profile is shifted. Especially, the developed system can eliminate backlash In this report, the kinematical tooth profile conditions are analyzed. Also a prototype of a trochoidal sprocket is constructed using the optimal values and is tested for the positioning performance. It is proved that the positioning performance can be improved using the developed sprockets, compared with the case of using conventional one.

著者

田中 順一郎

出版者

公益社団法人日本オペレーションズ・リサーチ学会

雑誌

オペレーションズ・リサーチ : 経営の科学 (ISSN:00303674)

巻号頁・発行日

vol.33, no.8, pp.372-373, 1988-08-01

著者

恩田 紀更 大井 洋之 玉野 まり子 大澤 勲 富野 康日己

出版者

順天堂大学

雑誌

順天堂医学 (ISSN:00226769)

巻号頁・発行日

vol.53, no.2, pp.217-225, 2007-06

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目的:IgA腎症はわが国の原発性糸球体腎炎のなかで最も頻度の高い腎炎である.補体成分の糸球体沈着は知られているが,血清中の補体成分の全体像は明らかにされていない.そこでわれわれは,血清中の補体成分と補体制御蛋白がIgA腎症の病態に関与しているか否かについて検討した.対象と方法:IgA腎症患者50名と健常者50名の補体価(CH50)および血清補体成分を測定した.血清C3とC4はlatex cohesive immunoassayで測定し,CH50はMayer法相対比濁法,C1qはnephelometry法,C5・C1 inhibitor・B・C4 bindingprotein・H・Iは一次元放射免疫拡散法で測定した.Mannose-binding proteinとproperdinは,ELISA法で測定した.IgA腎症患者を組織学的予後分類で4群(予後良好群,予後比較的良好群,予後比較的不良群,予後不良群)に分類し,血清補体成分との関連性を検討した.結果:IgA腎症患者では,健常者と比較しCH50・C4・B・properdin・H・Iは有意に高値であった(p<0.01).IgA腎症患者では,C4とC1 inhibitor(p<0.05),C5とC4 bindingprotein(p<0.05)の間に有意な相関が認められた.しかし,健常者ではそれらの相関は認められなかった.予後分類の予後不良群は,他の群に比べC4 binding proteinの有意な高値がみられた(p<0.05).考察:IgA腎症患者では,健常者と比較して血清補体成分および補体制御蛋白が高値であり,各補体成分間で掛1相関が認められた.また,C4 binding proteinが組織障害度と強い関連を認めた.これらのことより,血清補体の変動は,本症の病態を反映しているものと考えられた.

著者

針金 由美子 森下 知晃 SNOW Jonathan E. 田村 明弘 道林 克禎 小原 泰彦 荒井 章司

雑誌

日本鉱物科学会年会講演要旨集 (ISSN:13486543)

巻号頁・発行日

vol.2011, 2011-09-05

著者

十返舎一九 作

出版者

森屋治兵衛

巻号頁・発行日

vol.3編, 1813

著者

斎藤励著

出版者

創元社

巻号頁・発行日

1947

著者

大倉 鉄郎 オオクラ テツロウ

---

26374

著者

下山 正一 木下 裕子 宮原 百々 田中 ゆか里 市原 季彦 竹村 恵二

出版者

一般社団法人 日本地質学会

雑誌

地質学雑誌 (ISSN:00167630)

巻号頁・発行日

vol.105, no.5, pp.311-331, 1999-05-15 (Released:2008-04-11)

参考文献数

57

被引用文献数

7 9

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従来の第四紀地殻運動論では, 九州のほぼ全域を隆起地域と解釈してきた.最近, 九州北部各地に沈降域があることが明らかになったので, 堆積相・貝化石群集・生痕化石などの古水深指標と広域テフラに基づいて九州各地の最終間氷期最高海面期(ステージ5e)の旧汀線高度を比較し, 過去約12.5万年間の九州の地殻運動を見直す作業を行った.その結果, 過去12.5万年間の動きは別府~島原地溝帯を境に, 九州北部は全て沈降地域である.また, 九州南西部にも沈降地域があることが判明した.特に佐伯から川内にかけて九州を北東-南西に横切る1本の顕著な沈降軸(佐伯~川内沈降軸)が存在する.九州南東部は顕著な隆起地域であることを再確認した.沈降地域や隆起地域の隣接分布は, 現在の九州の海岸地形と極めて調和的である.中期から後期更新世にかけて地殻運動が逆転したと考えられる地域が存在する.これは九州の複雑な地殻運動史を示している.