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We tried to compensate the weak points of practical education using hardware by using the electronic circuit simulator and cloud computing environment. After learning the simulator, 3D CAD, control programming. we actually create the robot arm. As a result, we believe that we can acquire applied skills in mechatronics education.

林 高弘, 小鹿 雄介, 村瀬 守正, レーザードップラー振動計の曲面スキャンによる配管中を伝搬するガイド波の可視化, 非破壊検査, 2008, 57(1), pp. 30-35, https://doi.org/10.11396/jjsndi.57.30., Defect imaging techniques with ultrasonic probe scanning on flat surfaces have become commonplace. However, to visualize guided wave propagation and nonlinear ultrasonic generation in a pipe, receiving transducers must be scanned on a curved surface. In this study, therefore, a scanning technique for curved surfaces using a laser doppler vibrometer equipped with a robot arm was developed, in which a laser focal point was controlled three dimensionally with a programmed robot arm and ultrasonic waves could be measured at many points on the curved surface. Using this technique, the guided wave reflection from an oblique defect on the pipe was visualized, where the reflected waves from the defect propagated on spiral paths. From the view point of guided waves in the longitudinal direction, the spiral propagating waves correspond to guided waves of very high order modes that have not heretofore been utilized in guided wave inspection.

This paper deals with a robotics support of dexterous robot arms which is supposed to substitute for extravehicular activity (EVA) of astronauts. We focus substitutional supports for space exposed experiments, and we set up an experimental test-bed for evaluation experiment on ground. In this paper, we report results of evaluation experiments, for example, a small connector handling and harness tracking or chasing experiments., 資料番号: AA0049500075, レポート番号: JAXA-SP-06-006

With the Manipulator Flight Demonstration (MFD), the engineering test satellite 7, our country is preceded in space robot technology, and technical development will be furthered towards the promising onboard servicing or the on-orbit assembly in the future. Non-contacting sensing technology such as motion and a position/attitude using image-processing technology, the autonomous control technology of spacecraft and space robot, mechanism technology are important. This research is studying the missions plan of an onboard servicing and an on-orbit assembly, while performing these advanced technology research and development., 資料番号: AA0049057018, レポート番号: JAXA-SP-05-011

This paper describes a method for operating large robotic manipulators, which generally has flexible links and joints in space. Vibration induced by flexibility is a serious problem when operating a long manipulator in orbit. Once vibration has occurred while a manipulator is handling a payload, the operator must wait for the vibration to be damped before proceeding, which decreases working efficiency. We studied a control method to suppress vibration during both manual and automatic operations. We investigated an Input Shaping feed-forward control method for damping residual vibration during operation. We discuss in detail the results of the pre-shaping vibration suppression and manual operation experiments in this paper., 資料番号: AA0049057009, レポート番号: JAXA-SP-05-011

We have tested 1.2 km laser energy transmission for a full-size model of a lunar rover at the year before last. Now we are going to develop the laser energy transmission system for the rescue robot and the model of airplane. The rescue robot has a solar panel (47 pieces of single junction GaAs solar cells) and receive the laser light. We use a fiber-coupled type diode laser (lambda: 806.1 nm, output power: 200 W/cw, core diameter: 400 micrometer, NA: 0.22). The focused spot size of the laser beam is about 44 cm diameter on the solar panel. The output power of the solar panel is about 47-50 W (laser output power: 200 W). The distance of the laser system to the robot is 10 m. The corner reflector, LCD, Photodiode and Polarizer are used in the laser tracking system. So it is possible to receive the laser light by the laser tracking system when the robot moving. The model of airplane (kite-plane) has a smaller solar panel than the rescue robot, 32 pieces of single junction GaAs solar cells are mounted on a 30 cm diameter panel (conversion efficiency: approximately 25 percent). It is used the same type of the laser system that the robot system using. The flight altitude is 50-500 m, and the circular flight radius is about 10 m. The kite-plane is tracked by the laser tracking system and receive laser beam. This tracking system is using a 4-element photodiode and a corner reflector. We are providing the demonstration of the laser energy transmission for the rescue robot and the kite-plane., 資料番号: AA0049120027

資料番号: AA0046918007

金沢大学理工研究域機械工学系, 昨今産業用ロボットアームには省エネ化が求められる．従来アーム自重を補償する機構が考えられているが，複雑で組み込みにくい．そこで本研究では，既存のロボットアームを上方からワイヤとばねで吊ることでアームの負荷を軽減する方法を提案する．実機に機構を取り付け実験を行い，省エネ効果は確認できたが機構が大きくなってしまう問題があった．そこでコンパクトな装置を提案し，同様に省エネ効果が得られることを示した., 出版者照会後に全文公開

Science rover mission is proposed as an excellent mission for Lunar Geological Exploration SELENE-B. This paper describes the purpose of rover mission, exploration scenario, requirements for rover mission, and rover system. Feasibility studies on lunar rover in SELENE-B are also discussed., 資料番号: AA0045441007

Rover exploration is very effective for Lunar Geological Exploration Mission SELENE-B. This paper describes lunar rover mission, exploration scenario and requirements for rover exploration. This paper also studies feasible rover system with scientific instruments and micro-manipulator., 資料番号: AA0045441015

ロボットアームはコンピュータによる機械制御学習のための優れたメカトロニクス教材である。本研究では、ロボットアームの平面上の動作を学習するため、教材として初歩的なロボットアームを試作した。本装置は、ステッピングモーターを駆動源とし、パーソナルコンピュータと専用のインターフェイスボードを用いてステッピングモーターを制御している。なお、制御プログラムは中学および高等学校において受け入れやすいようにBASIC言語で記述されている。さらに、ここでは教材としての可能性についても検討を行った。, The robot arm is an excellent electro-mechanical teaching material for studying mechanical control system. To study the two dimensional motions of the robot arm, we made an elementary robot arm as an electro-mechnical teaching material. This system used two stepping motors as the primary drive, a personal computer and an exclusive interface board to control the stepping motrs. This control program was written in BASIC, to be easily adopted in junior and senior high schools. A discussion is made on the possibility of the educational use of system.

In this paper, the magnetic levitation neuro-adaptive control method of a body by use of an electromagnet attached to a vertical robot with a prismatic joint is presented, and the usefulness of the present control method is confirmed by experiment and numerical simulation. When the gap between the levitated body and the electromagnet hand varies, an adaptive control method to compensate the nonlinear characteristics of the magnetic attracting force is desirable. The magnetic levitation neuro-adaptive control system consists of a PD feedback control loop and an adaptive mechanism based on a neural network. From the experimental results and the numerical simulation results, it is confirmed that the levitated body can be controlled successfully by the present magnetic levitation neuro-adaptive control method.

A structure assembly is effective robot work, in order to build a large-sized structure on orbit and on moon/planet surface. The system which prepares a marker for image measurement in positioning of a structure assembly is simple and highly precise. JAXA is doing development of a three-dimensional color marker for space robot positioning, and the image-processing technique. Under various kinds of lighting environment, positioning operation testing of the drive mechanism by measurement of the color marker was carried out. This paper describes this testing result and evaluation., 資料番号: AA0063990000, レポート番号: JAXA-RR-06-047

資料番号: AA0049494000, レポート番号: JAXA-SP-05-018

高機能3指型ロボットハンド(以下「バレットハンド」という)を用いて、ロボットによる作業実験などを行う準備として、ハンド内蔵の力センサ(歪みゲージ)を用い、物体を把持した時の負荷力測定を行い、ハンドの把持特性について仕様通りの動作を確認した。本資料はこの把持特性の実験結果をまとめ、作業実験を検討する際の資料とするものである。実験の結果、本ハンドの力センサが仕様通り2kgf程度まで検出できることを確認した。また、作業性の地上実験を行う際にハンドレールなどのEVA模擬品をガタつかせず把持できることを確認した。指先の力センサはコンプライアンス制御を行えるほど正確な値は得られないようであり、接触スイッチとして利用することになると考える。本実験は2001年2月に行ったものである。, 資料番号: AA0046972000, レポート番号: JAXA-RM-03-019

金沢大学理工研究域機械工学系, There are few assembly robots with force control in factories, because force control tends to be unstable and its motion is slow. The flexible joint that can change its compliance mechanically by rotating leaf spring is developed to solve this problem. This mechanism is simple to change compliance quickly with good stability. This robot can do both positioning control and force control. We also develop the SCARA robot equipped with this flexible joints for assembly task.従来から力制御のできるロボットアームが研究されているが,位置制御ロボットと比べ,工場内での生産現場への導入事例は非常に限られている.その原因としては,力制御は不安定になりやすくアームの動作が非常に遅くなることが挙げられる.解決策としては,機械的に剛性を変化できる機構が有効である.そこで,本研究では組立作業用のロボットアームとして板バネを関節に組み込んで剛性を変えられるスカラ型アームの開発を行う., 出版者照会後に全文公開