Newsgroups: comp.robotics.research
Path: cantaloupe.srv.cs.cmu.edu!rochester!udel!news.mathworks.com!uunet!in1.uu.net!newsflash.concordia.ca!sunqbc.risq.net!hobbit.ireq.hydro.qc.ca!NetNews.IREQ.Hydro.QC.CA!mboyer
From: japancs@cs.arizona.edu (Japan CS Project)
Subject: Journal of the Robotics Society of Japan, Vol. 13, No. 3 (April 1995)
X-Nntp-Posting-Host: pellan.ireq-robot.hydro.qc.ca
Message-ID: <MBOYER.95Aug9110354@pellan.ireq-robot.hydro.qc.ca>
Lines: 324
Sender: news@ireq.hydro.qc.ca (Netnews Admin)
Organization: University of Arizona CS Department, Tucson AZ
Date: Wed, 9 Aug 1995 15:03:54 GMT
Approved: mboyer@ireq-robot.hydro.qc.ca, crr@ireq-robot.hydro.qc.ca

-------------------------------------------------------------------------------
     JOURNAL OF THE ROBOTICS SOCIETY OF JAPAN, VOL. 13 NO. 3 (APRIL 1995)

          published by

     THE ROBOTICS SOCIETY OF JAPAN (in Japanese)
-------------------------------------------------------------------------------

[Collection and dissemination of this information supported in part by ONR
Grant N0001492J1737.]

[The table of contents of this journal and other Japanese journals related
to computing are available for anonymous FTP from site ftp.cs.arizona.edu,
directory japan/table.contents. They can also be accessed on the WWW using URL
<http://www.cs.arizona.edu/japan/www/japan.html>.]

CONTENTS

Special issue "REAL-TIME VISION"

1	On special issue "Real-time Vision"                                
	 Takashi Uchiyama

Perspective

2	Real-time vision and its applications                          
	 Hirochika Inoue

Review

7	Active rangefinder and range image processing      
	 Yukio Sato

11	Silicon range finder                                               
	 Kosuke Sato

15	A small laser range finder for planetary rover
	 Yasufumi Wakabayashi and Tadashi Adachi

18	A video-rate stereomachine               
	 Takeo Kanade and Shigeru Kimura

23	Robot vision using local correlation processor               
	 Masayuki Inaba

27	A real-time optical flow processing using time-varying image 
	processor: ISHTAR
	 Shigeru Sasaki and Morito Shiohara

31	Massively parallel and ultra-high speed vision chip and its 
	applications    
	 Masatoshi Ishikawa

35	An integrated memory array processor and a real-time vision system
	 Yoshihiro Fujita, Nobuyuki Yamashita and Shin'ichiro Okazaki

39	A compact mobile robot with binocular tracking vision                
	 Yasuo Kuniyoshi

43	Real-time omnidirectional image sensors            
	 Yasushi Yagi

47	Realtime vision for behavior acquisition           
	 Minoru Asada

Tutorial

51	Kinematics of wheeled-type mobile robot                             
	 Masaharu Takano

 From the 12th RSJ annual conference

57	Biomagnetic approach to the understanding of the human functions 
	 Shogo Ueno

PAPERS

71	Group-based multi agent system configuration for robot navigation
	 Mutsumi Watanabe(1), Kazunori Onoguchi(1), Yoshinori Kuno(2) and 
	 In So Kweon(3)
	  ((1)Toshiba Kansai Research Laboratory)
	  ((2)Osaka University)
	  ((3)KAIST)

		In this paper, we propose a new behavior-based architecture 
	with three-grouped (reflexive, purposive and adaptive) agents that 
	realizes both efficiency in attaining the mission of the robot and 
	robustness against various kinds of failures that may occur in a 
	dynamic environment. Grouped agents are directly connected to the 
	special agent (Motion Executor) which determines the motion command of 
	the robot.
		The reflexive-level group consists of agents with contact, 
	infrared and ultrasonic sensors which maintain the minimal safety of 
	the robot. The role of the purposive-level group is to efficiently 
	navigate the robot to the final goal. The adaptive-level group stands 
	by to recover from failure in the purposive-level group or deadlock 
	situations. Individual agent-arbitration mean is prepared for each 
	group in the Motion Executor.
		Experimental results show the effectiveness of the 
	architecture.

	Key Words: Autonomous Navigation, Multi-Agent System, Behavior-Based, 
	Robot Vision, Mobile Robot

79	Development of fine deflection measurement system using laser sensor 
	for robot manipulator and its precision certification        
	 Sangwan Joo(1) and Hirokazu Mayeda(2)
	  ((1)Faculty of Engineering Science, Osaka University)
	  ((2)Faculty of Science and Technology, Ritsumeikan University)

		There are several methods to measure precisely the fine 
	positional and orientational variations of the end-point of a robot 
	manipulator. The cube method which is useful for measuring the 
	repeatability, joint compliance, and end-point impedance of a 
	manipulator. etc. is a well-known one. But. there are two problems in 
	applying the cube method. The one is what kinds of displacement 
	sensors (or transducers) are appropriate for the method, and the other 
	is how to certify the precision of the assembled measurement system 
	using the cube method. In this paper, we introduce the laser sensor 
	type deflection measurement system for a robot manipulator we've 
	developed and the precision certification method with 3-axis turn 
	table we've devised.

	Key Words: Cube Method, Laser Sensor, 3-Axis Turn Table, Precision 
	Certification

86	Joint stiffness measurements of multijoint type robot manipulators 
	with serial mechanisms  QA comparison between simultaneous measurement 
	and individual measurementQ
	 Sangwan Joo(1) and Hirokazu Mayeda(2)
	  ((1)Faculty of Engineering Science, Osaka University)
          ((2)Faculty of Science and Technology, Ritsumeikan University)

		When a force is applied at the endpoint of a manipulator arm, 
	the endpoint will deflect by an amount which depends on the stiffness 
	of the arm and the force applied. There are several sources, for 
	example, arm links, transmissions, reducers, and servo drive systems 
	that produce deflections or vibrations of the industrial manipulator 
	arm. We've investigated the measuring methods of the equivalent joint 
	stiffness of a industrial robots with serial mechanisms. In this 
	paper, two measuring methods are proposed. One is simultaneous 
	measurement method, and the other individual method. According to the 
	experimental conditions, the former is divided into two methods 
	further, servoing state measurement, and mechanically fixed state 
	measurement. The experimental results for the typical industrial 
	robot, PUMA560, show that we can regard the equivalent stiffness of 
	each joint to be linear.

	Key Words: Joint Stiffness, Simultaneous or Individual Measurement, 
	Fine Deflection Measurement System

93	Analysis of disturbance and velocity observer based servo system
	 Akira Shimada
	  (Seiko Seiki Co., Ltd.)

		This paper reports the result of analysis for the servo system 
	which includes the disturbance and velocity observer. Recently, the 
	improvement of control theory brings us much useful knowledge. For 
	example, we can get a compensator based on Youla parametrization if 
	only we make use of an identity observer and a state feedback system. 
	And it is known that a term of free parameter in this compensator is 
	equivalent to the disturbance estimation value.
		On the other hand, I have presented a minimum order observer 
	which estimated disturbance and driving velocity on each axis of robot 
	manipulator. And it has become known that the control system using the 
	observer has robust performance in generally.
		Then this paper proves that the control system is equivalent 
	to a Youla's compensator when a term of free parameter is fitted to a 
	condition to compose type 1 servo system. Next, when we make use of 
	this minimum order observer, we can compose a two degrees of freedom 
	robust servo system. Finally, this paper presents that there is a 
	restriction on the pole allocations of the control system in practice.

	Key Words: Observer, Disturbance, Youla Parametrization, Degrees of 
	Freedom, Servo System

100	Coordinated motion control of manipulators based on impedance control
	 Kazuhiro Kosuge(1), Hidehiro Yoshida(2), Toshio Fukuda(2), Kiyoshi 
	 Kanitani(3), Masaru Sakai(3) and Kazuo Hariki(3)
	  ((1)Faculty of Engineering, Tohoku University)
	  ((2)Faculty of Engineering, Nagoya University)
	  ((3)Nachi, Fujikoshi Corp)

		This paper proposes a unified coordinated motion control 
	algorithm of manipulators, which is applicable to both manipulation of 
	an object and a parts-mating task. First, we consider the manipulation 
	of an object by impedance controlled manipulators; the impedance of 
	each arm is designed so that the apparent impedance of the manipulated 
	object is specified. Then we consider the parts mating problem using 
	the same control algorithm that is proposed for the manipulation of a 
	single object. We propose a method to design the impedance of each arm 
	so that the relative motion of two manipulators has the dynamics 
	appropriate for the assembly of two parts. The experimental results 
	using two industrial robots will illustrate the validity of the 
	proposed control algorithm.

	Key Word: Robot, Manipulator, Control, Coordinated Motion Control, 
	Parts-Mating

107	Active vision system based on the structural tracking by using robot 
	manipulator
	 Masaru Sugai(1), Yoichi Hori(1), Tsukasa Ogasawara(2) and Hideo 
	 Tsukune(2)
	  ((1)Faculty of Engineering, The University of Tokyo)
	  ((2)Electrotechnical Laboratory)

		We propose a novel active vision system based on structural 
	tracking. In this system, the position and the attitude of an object 
	fixed to the camera coordinate system is kept constant by active 
	manipulation of CCD camera.
		A high speed recognition method is proposed based on matching 
	real image with image generated from object model. "Recognizability" 
	is also proposed as the index of easiness of recognition. This is the 
	original attempt to answer the question of "What are the best camera 
	position and attitude to watch the object?"
		The proposed method was implemented by using two DSP's and the 
	life-size 6-axis robot manipulator. One DSP was used for image 
	processing and the other for robot control. The proposed active vision 
	system showed its efficacy with laboratory experiments.

	Key Words: Active vision, Recognition, Tracking, Robot Manipulator, 
	CCD Camera

116	Decoupling control of nonlinear systems using disturbance observer
	QDecoupling control of DD robot in task space  
	 Hsin-Nan Lin(1), Yasuaki Kuroe(2) and Toru Maruhashi(3)
	  ((1)Science and Technology, Kobe University)
	  ((2)Kyoto Institute of Technology)
	  ((3)Osaka Sangyo University)
		
		Almost all real systems are nonlinear and their mathematical 
	models cannot be obtained exactly In particular, it is very difficult 
	to design control systems for nonlinear multi-input and multi-output 
	systems such as robot manipulators because of their nonlinear 
	interactions. In recent years, control methods of exact decoupling and 
	exact linearization have been widely investigated by using 
	differential geometric approach. But they have problems; they need 
	exact models of systems and controllers become very complicated. In 
	this paper, we firstly propose a method of decoupling control for 
	general class of nonlinear systems by disturbance observer. The 
	proposed method can decouple nonlinear systems not exactly but 
	approximately, but controllers become very simple, and it is 
	applicable even if exact models of systems are not available. 
	Secondly, we propose a method of decoupling of robot manipulators by 
	applying the proposed method. There have been a lot of studies on 
	decoupling control of robot manipulators based on disturbance 
	observers. But most of them realize decoupling of robots only in joint 
	coordinate space. On the other hand, the proposed method can easily 
	realize decoupling of robots in the task coordinate. Finally, in order 
	to illustrate performance of the proposed method, experimental results 
	by using a 3-degree-of-freedom series DD robot are shown.

	Key Word: Nonlinear System, Disturbance Observer, Decoupling Control, 
	DD Robot, Work Space

125	A gait acquisition of 6-legged walking robot using immune networks
	 Shingo Ichikawa, Akio Ishiguro and Yhoshiki Uchikawa
	  (Faculty of Engineering, Nagoya University)

		Recently, a strong demands of developing autonomous 
	decentralized system has been arisen since systems have been 
	increasing in their scale and complexity. On the other hand, 
	biological systems can be said the ultimate decentralized systems, and 
	are expected to provide feasible ideas to engineering fields. Among 
	them immune systems work as on-line fault diagnosis systems by 
	constructing self-nonself recognition networks. In this study, we try 
	to apply this immunological self-nonself recognition networks to a 
	gait acquisition of a 6-legged walking robot as a practical example.

	Key Words: Immune Networks, Self-nonself Recognition, Autonomous 
	Decentralized Systems, 6-legged Walking Robots

129	Design of admittance matrix parameters considering modifiability 
	conditions
	 Shinichi Hirai and Kazuaki Iwata
	  (Faculty of Engineering, Osaka University)
	  
		A systematic approach to the design of admittance matrix 
	parameters in damping control is presented. Manipulative operations 
	such as part-mating and grasping must be achieved despite positioning 
	errors of manipulated objects. Applying damping control, a manipulator 
	has a capability of coping with the positioning errors by modifying 
	its velocity according to the reaction forces acting on it. An 
	admittance matrix, which characterizes the actual manipulator 
	velocity, must be determined so that the operation can be performed 
	successfully. It is, however, difficult for human operators to 
	determine an admittance matrix adequately for a various kind of 
	operations.
		In this paper, we will develop an analytical method to derive 
	admittance matrix elements for part-mating operations. First, the 
	process of part-mating operations is analyzed with regard to how the 
	workpieces contact each other. Kinematic and static property at each 
	contact state is also analyzed. Second, we formulate the condition for 
	successful part-mating operations based on the theory of polyhedral 
	convex cones. Then, we develop a systematic method to compute 
	admittance matrices that can eliminate positioning errors. Finally, an 
	experimental result is shown to demonstrate the validity of the 
	proposed method.

	Key Words: Manipulator, Damping Control, Admittance Matrix, 
	Manipulation, Part-mating

137	Amplification of sensation of manipulation by scaled bilateral control
	 Taisuke Sakaki(1) and Susumu Tachi(2)
	  ((1)Yaskawa Electric Co.)
	  ((2)RCAST, University of Tokyo)

		This paper proposes the scaled bilateral control system which 
	amplifies the sensation of force, length, and dynamics in tele-
	manipulation. The bilateral control should be utilized in the 
	teleoperation where the physical scales between the master and slave 
	environments are different. Scaling rules are applied to design the 
	bilateral system with an extension of the impedance control type 
	bilateral control system. The response of amplified sensation and the 
	contact stability of the system are discussed. Also, the proposed 
	system is verified with the experiments with a pair of linear sliders.

	Key Words: Bilateral Control, Scaling Rules


--
 *********************** (moderated) ***************************
     Submissions:                Meta-discussions/information:
 crr@ireq-robot.hydro.qc.ca   crr-request@ireq-robot.hydro.qc.ca
