Service Robotics and Mechatronics (eBook)

Keiichi Shirase is a professor in the Department of Mechanical Engineering of Kobe University, Kobe, Japan. He graduated from the Department of Mechanical Engineering of Kobe University in 1984, and received a DrEng degree in Mechanical Engineering from Kobe University in 1989. He was a research associate in the Department of Mechanical System Engineering of Kanazawa University from 1984 to 1996. He moved to Osaka University, and was an associate professor from 1996 to 2003. Then, he moved to Kobe University in 2003 as a professor. He is a member of ASME, JSME and JSPE (Japanese Society of Precision Engineering), and contributes to the technical activities as a committee member of JSME and JSPE. His current research interests are Autonomous Machine Tools, Mechatronics, and Human Oriented Manufacturing Systems. Seiji Aoyagi is a professor in the Department of Mechanical Engineering of Kansai University, Osaka, Japan. He received his BEng, MEng, and PhD in precision machinery engineering from the University of Tokyo, Tokyo, Japan, in 1986, 1988, and 1994, respectively. From 1988 to 1995, he was with the Department of Mechanical Systems Engineering of Kanazawa University, Kanazawa, Japan, as a research associate and as an associate professor. He then moved to Kansai University and was an associate professor from 1996 to 2002. His current research interests are Robotics, Mechatronics, and MEMS.

Preface 5
Contents 7
Designing Mobile Work Machines in Cyber Space 11
Proposal of 3D Micro Prototyping Using Synchrotron Radiation and Its Application to Bio- Microsystems 16
Surgical Tool Based Preoperative Planning System for Total Hip Arthroplasty 24
A Trial of Numerical Calculation of Wear for Artificial Hip Joints 30
A Non-invasive Method to Measure Joint Range of Motion for Hip Joints 36
Robot Task of Pin Insertion to a Hole without Chamfering and with Small Clearance Using Fuzzy Control 42
Disassembly Support System for Used Products Considering Destruction of Their Parts 46
The discriminative method of the insertion using a cantilever model for the optical fiber array automatic assemble 52
Application of the Active Flexible Fixture to a Peg-in-hole Task 58
Comparison of Tracking Controllers of Hydraulic Cylinder Drive by Simulations 64
Development of a Hybrid Position/Force Controlled Hydraulic parallel Robot for Impact Treatment 70
Modeling and Control of Water Hydraulic Driven Parallel Robot 77
Development of Intelligent Ankle-Foot Orthosis (i-AFO) with MR Fluid Brake and Control System for Gait Control 83
Development of Force-Measurable Grip and Software for “PLEMO”, Rehabilitation System for Upper Limbs Based on Physical Therapy 89
Mechanism Design and Software of Quasi-3-DOF Active-Passive Rehabilitation System for Upper Limbs,“ Hybrid- PLEMO” 95
6-DOF Stand-Alone Rehabilitation System ‘Robotherapist’ and Its Applications to Stroke Patients 99
Development of Grip Mechanism Assistant Device for Finger Rehabilitation 103
Development and Evaluation of a Centaur Robot 109
Motion Simulation for a Stance Robot by Repeatedly Direct Kinematics 114
Manipulation Method Using Wheeled-Hand Mechanism for Humanoid Robot 120
Study on One-legged Robot Jumping 126
Remote Control Support System for R/C Helicopter 132
Finite-Time Settling Control restraining Amplitude of Control Input by Linear Programming 138
Robust Control of Mechanical Systems with Nonlinear Friction Considering Compliance of Transmission Mechanism 144
Size Reduction and Performance Improvement of Automatic Discharge Gap Controller for Curved Hole Electrical Discharge Machining 149
Design of a Motion Platform for a Mobile Machine Simulator by Utilizing 6-D Measurements and Inverse Dynamics Analysis 155
A Position Measurement Method for a Miniature Mobile Robot Using Three Moving Landmarks 159
Transport Equipment Positioning System Using Accelerometer and PHS 165
A Four-legged Robot Connected to Ubiquitous Devices in a Home 171
Development of Invisible Mark and Its Application to a Home Robot 177
Adaptive Polyhedral Subdivision for Image-based Lighting 183
Comparison of Driving Performance of Piezoelectric Actuator - Current Pulse Drive and Voltage Linear Drive - 189
Steady State Analysis of Gyroscopic power Generator 195
Characterization of Shape Memory Piezoelectric Actuator and Investigation of the Origin of the Imprint Electrical Field 201
A Study on Real-time Scheduling for Holonic Manufacturing Systems - Application of Reinforcement Learning - 207
Flexible Production Systems developed and utilized in DENSO CORPORATION and their Evaluation 211
Promotion Methods of Job Redesigning for Elderly Workers on the Production Line 217
Human-Oriented Dynamic Task Reallocation and Rescheduling in Cellular Manufacturing Systems 223
Shape Data Registration based on Structured Light Pattern Direction 229
Object Tracking System Using Pan-Tilt Cameras and Arm Robot 235
Influence of Reaching Actions on Driving Performance 241
Measurement of a car driver’s pulse interval while driving with one hand 247
Validation of performances on attendant propelled wheelchairs with assisting control based on autonomous propelling model 251
Hierarchy Genetic Algorithm to Solve Multi-Objective Scheduling Problems Involving Various Types of Assignments for Parallel Processing System 257
Productivity Analysis of Closed-loop Manufacturing System Which Performs Maintenance Activities 263
A study on optimization method with combinatorial auction 269
Calibration of Kinematic Parameters of a Robot Using Neural Networks by a Laser Tracking System 275
Construction and Evaluation of a Robot Dance System 281
Evolutionary Artificial Neural Networks using Extended Minimal Simulation on Evolutionary Robotics 286
ROBO-BLOCK and Rational Formula of Robots 292
Experimental verification of a mass measurement device under zero gravity with a prismatic variable stiffness mechanism 298
Piezoresistive Rotation Angle Sensor in Micromirror for Feedback Control 304
Proposal of 2-axis Bulk-PZT Gyroscope 309
A Study on Atomization Characteristics of Surface Acoustic Wave Atomizer using Laser Doppler Anemometry 313
Scheduling Based Collision Avoidance for Multitasking Machine 317
Development of a Support System of Operation Planning for Parallel Kinematic Machine Tool 321
Method of Process Parameter Identification and Resist Profile Design for Thin-Film Pattern Formation 327
Visual Inspection of Soldering Joints by Neural Network with Multi- angle View and Principal Component Analysis 333
Path Generation and Collision Avoidance of Robot Manipulator for Unknown Moving Obstacle using Real-time Rapidly-exploring Random Trees (RRT) Method 339
Path Searching of a Robot Manipulator Using Reinforcement Learning and Self- Organizing Maps 345
Improved Positioning Accuracy for a Water Hydraulic Manipulator with State Feedback Controller 351
Trajectory Tracking Feedback Control of Robot Manipulators with Coupled Dynamics of Force and Position 357
Light Transmittance Memory Effect of Ferroelectric Materials Induced by Electrical Imprint Field 367
A Minimization of Environmental Burden of High-Speed Milling 371
Fast Estimation Method of Workpiece Shape in NC Machining Process for Prediction of Instantaneous Cutting Force 377
Development of 2-dimensional contouring by endless wire saw 383
Application of Cusp Surface Analysis to Jumping Phenomenon 389
Authors’ Index 395