Kyojiro Hakomori

Hybrid position/Force control for coordination of a two-arm robot

In this paper we discuss the control of cooperating tasks being done by two robotic arms. In order to control those tasks, we extend hybrid position/force control scheme presented thus far by various researchers for a single-arm robot. The point of the extension is formulation of kinematics and statics for a two-arm robot which is new in this paper. We define a unique system of workspace coordinates and, corresponding to the unique workspace, introduce an unique jointspace vector consisting of joint-vectors of the two arms. Using these work and joint spaces, we formulate kinematics and statics. Based upon this formulation, we successfully apply the hybrid scheme to the two-arm robot. A demonstration of the theory working on a real two-arm industrial robot and experimental data of simultaneous control of position and force proves the effectiveness of our method.

Evaluation of the robot force sensor structure using singular value decomposition

In this paper we discuss the evaluation of the robot force sensor structure. First, we present the framework for understanding the principle of force measurement in the sensor. Next we derive a sta...

Improved bell type micromanometer for measuring low air speeds

An improved fast‐response bell type micromanometer with Pitot tube has been developed for measuring low air speeds in the range of about 1 m/sec. Displacement of an inverted bell is picked up by an unbonded strain gauge which has a large spring constant compared to its sensitivity. A balance system is used to cancel the weight of the bell and decrease drifts.