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Study on Dual Arm Intelligent Robot for Space Application

空间应用双臂智能机器人研究

基本信息

批准号：
02044013
负责人：
UCHIYAMA Masaru
金额：
$ 1.28万
依托单位：
Tohoku University
依托单位国家：
日本
项目类别：
Grant-in-Aid for international Scientific Research
财政年份：
1990
资助国家：
日本
起止时间：
1990 至无数据
项目状态：
已结题

来源：
https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-02044013/
关键词：
Space Robot Telerobotics Dual Arm Robot Flexible Robot Free-Flying Robot Redundant Robot Intelligent Robot Dedicated VLSI Processor

项目摘要

This project was undertaken in the fiscal year of 1990. During the period of the project, two investigators were sent abroad and three investigators were invited from abroad. Through this communication of investigators, international collaboration on dual arm intelligent robotics in space was done successfully.The two investigators who were sent abroad were Prof. Kameyama and Prof. Uchiyama at Tohoku University. Prof. Kameyama visited University of California, Santa Barbara, U. S. A. and had a meeting on space robotics with Profs. Bayo and Nakamura. Prof. Uchiyama who happened to have visited U. S. A. at that time joined the meeting. He also visited University Montpellier II, France and had a meeting on dual arm robotics with Dr. Dauchez and his graduate students. He also had a meeting with Mr. Pierrot and discussed on a parallel robot which he was developing.The three investigators who were invited from abroad were Dr. Dauchez, Profs. Bayo and Nakamura. They visited Tohoku University simultaneously and had a meeting on space robotics with Profs. Kameyama and Uchiyama. Moreover, the all investigators presented their recent research at the International Workshop on Dual Arm Intelligent Robotics in Space which was organized supported by this project in cooperation with the Robotics Society of Japan. At the workshop about forty researchers from all parts of Japan participated. The proceedings of this workshop is included in this report.In conclusion, this project was successful and yielded fruitful results some of which can be taken over by future collaboration. Those include modeling and control of flexible robot arms which can be a joint project between Profs. Uchiyama and Bayo parallel robots which can be a joint project among Profs. Uchiyama, Kameyama, Dr. Dauchez and Mr. Pierrot.

该项目是在1990财政年度进行的。在项目期间，两名调查人员被派往国外，三名调查人员被邀请到国外。通过这次研究人员的交流，成功地完成了双臂空间智能机器人的国际合作。被派往国外的两名研究人员是东北大学的龟山教授和内山教授。龟山教授访问了美国加州大学圣巴巴拉分校，并与教授们举行了关于空间机器人的会议。巴约和中村。当时碰巧访问过美国的内山教授也参加了会见。他还参观了法国蒙彼利埃二世大学，并与道切斯博士和他的研究生们就双臂机器人技术举行了会议。他还与皮埃罗先生会面，讨论了他正在开发的一种并联机器人。从国外邀请的三名研究人员分别是道切斯博士、教授。巴约和中村。他们同时参观了东北大学，并与教授们举行了关于空间机器人的会议。龟山和内山。此外，所有研究人员在该项目与日本机器人学会合作举办的双臂空间智能机器人国际研讨会上介绍了他们最近的研究成果。在研讨会上，来自日本各地的约40名研究人员参加了研讨会。最后，该项目取得了成功，并取得了丰硕的成果，其中一些成果可供今后的合作所取代。其中包括柔性机械臂的建模和控制，这可能是教授们的联合项目。Uchiyama和Bayo并联机器人可以成为教授们的联合项目。内山、龟山、道切斯博士和皮埃罗先生。