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Development of flexible electrostatic adhesive device that can equip in multicopter |
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Shunsuke Murai, Yu Tannno, Tadahiro Hasegawa, Shingo Nakamura, Shin'ichi Yuta, Shingo Maeda(Shibaura Inst. of Technology, Japan) |
| We developed a flexible electrostatic adhesive device that can equip in multicopter. Its flexibility allows the flexible electrostatic adhesive device to increase contact area at rough surface and generate greater adhesive force. Also, compact, lightweight, stable 10kV booster circuit was developed to equip in multicopter. The experimental results showed that, in a concrete wall, the maximum adhesive force was 1kgf during applied voltage 10kV. The device can adhere on a wall of infrastructures such as bridges and tunnels. The flexible electrostatic adhesive device is useful for infrastructure. |
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Comparison and Estimation of Reaction Force of End Effector of 1-DOF Manipulator using PDSPO and SMCSPO without Sensor |
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Min Cheol Lee, Wang Jie, Hyun Hee Kim, Min Cheol Lee(Pusan National University, Korea) |
| This paper present the method to estimate and compare the reaction force of end effector of 1-DOF
manipulator using Proportional derivative with sliding perturbation observer (PDSPO) and sliding mode control with
sliding perturbation observer (SMCSPO) without using any sensor. Simulation of 1-DOF manipulator is done in
Matlab/Simulink from the generation of a mechanical model using SimMechanics Toolbox. Proportional derivative
(PD) is used to derive the 1-DOF manipulator, whereas the sliding perturbation observer (SPO) computes the quantity
of estimated perturbation which is combination of the |
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Study of the drive-timing for a standup motion-supporting mechanism for the elderly |
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Shuhei Nomura(Shibaura Institute of Technology, Japan), Naoya Nakanishi(Shibaura Institue of Technology, Japan), Nobuto Matsuhira, Takashi Oogawara, Takashi Yoshimi(Shibaura Institute of Technology, Japan), Hideichi Nakamoto(Toshiba Corporation, Japan) |
| To develop a mechanism that will smoothly support the standup motion of elderly people, we reconsidered the operation-start timing of our previously developed device using a measurement apparatus. In the experiments with elderly subjects, the mechanism did not work as well as it did with younger subjects. Thus, we investigated the cause of this discrepancy with the aim of improving the apparatus. As a result, the success rate of the start timing of the support mechanism was improved through experimentation with elderly people. |
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A Study of Candle Sticker Attachment Task by Dual Arm Robot System |
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Takashi Yoshimi, Shota Yamazaki(Shibaura Institute of Technology, Japan), Kunio Torii, Yusuke Yamaguchi(Torii Candle Co., Ltd., Japan) |
| We considered the realization of difficult tasks by a robot arm system instead of skilled workers, and especially tried to realize candle sticker attachment tasks by a dual arm robot system. To realize the skilled workers’ tasks by robots, techniques which include essences to achieve the desired tasks should be extracted and described explicitly as robot control programs. So, we analyzed the candle sticker attachment method by the skilled and non-skilled workers. From its results, we constructed the dual arm robot system which executes a suitable candle sticker attachment method. |
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SMCSPO Based Reaction Force Estimation for 7 DOF Robot Arm |
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Hyun Hee Kim, Jie Wang, Karam Dad Kallu, Min Cheol Lee(Pusan National University, Korea) |
| The high degree-of-freedom robot arms need the end-effector’s assembly force information for precision and accuracy works. But attaching a force sensor on the end-effector of robot is difficult because of cost, weight and structural problems. In this paper, we will apply SMCSPO(Sliding Mode Control with Sliding Perturbation Observer) robust control algorithm to a 7 degree-of-freedom robot arm to estimate assembly force without force sensor in Robotics Lab simulation. From estimated perturbation, we can decide whether the end-effector of robot arm crashes the assembly part of not. If the absolu |
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Arrangement of Haptic Device with Multi-Function for Teleoperation |
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Kengo Kikuchi, Masamitsu Kurisu(Tokyo Denki University, Japan) |
| We are developing a control device with multi operation manners. The device can control the robot of various configurations by changing a form. However, the arrangement of the control device and the operator depending on the configuration of the device were not considered. The arrangement of the control device and the operator greatly influence the device operability and fatigue of the operator. In this paper, we examine the arrangement of the control device and the operator depending on the configuration of the device. |
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