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超音波によるロボットの3次元位置・姿勢計測 (第1報): 計測原理と計測システムの構築
http://hdl.handle.net/2297/43479
http://hdl.handle.net/2297/43479c15a49bd-f819-48e4-9523-d9660c029f23
| 名前 / ファイル | ライセンス | アクション |
|---|---|---|
TE-PR-OKABE-S-859.pdf (1.1 MB)
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| Item type | 学術雑誌論文 / Journal Article(1) | |||||
|---|---|---|---|---|---|---|
| 公開日 | 2017-10-03 | |||||
| タイトル | ||||||
| タイトル | 超音波によるロボットの3次元位置・姿勢計測 (第1報): 計測原理と計測システムの構築 | |||||
| タイトル | ||||||
| タイトル | Measurement of 3-D Position and Orientation of a Robot Using Ultrasonic Waves (1st Report): Principle of Measurement and Trial Manufacture of System | |||||
| 言語 | en | |||||
| 言語 | ||||||
| 言語 | jpn | |||||
| 資源タイプ | ||||||
| 資源タイプ識別子 | http://purl.org/coar/resource_type/c_6501 | |||||
| 資源タイプ | journal article | |||||
| 著者 |
青柳, 誠司
× 青柳, 誠司× 岡部, 佐規一× 佐々木, 健× 高野, 政晴 |
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| 書誌情報 |
精密工学会誌 = Journal of the Japan Society of Precision Engineering 巻 58, 号 5, p. 859-864, 発行日 1992-01-01 |
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| ISSN | ||||||
| 収録物識別子タイプ | ISSN | |||||
| 収録物識別子 | 0912-0289 | |||||
| NCID | ||||||
| 収録物識別子タイプ | NCID | |||||
| 収録物識別子 | AN1003250X | |||||
| DOI | ||||||
| 関連タイプ | isIdenticalTo | |||||
| 識別子タイプ | DOI | |||||
| 関連識別子 | 10.2493/jjspe.58.859 | |||||
| 出版者 | ||||||
| 出版者 | 精密工学会 = The Japan Society for Precision Engineering | |||||
| 抄録 | ||||||
| 内容記述タイプ | Abstract | |||||
| 内容記述 | Nowadays numerous industrial robots are increasingly applied to complicated and precise operations such as assembly. So precise estimation of performance characteristics of a robot, such as positioning accuracy, orientating accuracy, path accuracy and soon, is being necessary for both users and manufacturers of robots. However it is difficult to measure the position and orientation of a robot moving in wide 3-D (three dimensional) space without contact, in real time and with high accuracy. In this paper a system using ultrasonic waves is proposed. The principle is a triangulation using distances between transmitters attached to a robot arm and receivers placed around the work space of the robot. An electric spark which works as a non-directional point source of ultrasound is used as a transmitter. This system is simple and economical compared with that using laser beams or LED. Moreover the accuracy is good because it measures distances directly from the time-of-flight of an ultrasonic pulse. In this first report the principle and a trial manufacture are dealt with. | |||||
| 権利 | ||||||
| 権利情報 | Copyright © The Japan Society for Precision Engineering 精密工学会 | |||||
| 著者版フラグ | ||||||
| 出版タイプ | VoR | |||||
| 出版タイプResource | http://purl.org/coar/version/c_970fb48d4fbd8a85 | |||||
| 関連URI | ||||||
| 識別子タイプ | URI | |||||
| 関連識別子 | http://www.jspe.or.jp/ | |||||
| 関連URI | ||||||
| 識別子タイプ | URI | |||||
| 関連識別子 | https://www.jstage.jst.go.jp/browse/jjspe | |||||
