Satoshi Ashizawa

Development of Dismantling Robot for Ceiling Boards – Human-Robot Cooperative System and System Design of the Robot –

Dismantling robot was developed for ceiling boards. The system design of dismantling robot includes cooperative system between human-workers and robots. Besides, it has hierarchical system of the independent robot. Indeed, we carried out the dismantlement of ceiling boards by the new method of cutting ceiling boards, and verified the effectiveness of the robot system.

Development of dismantling robot for ceiling boards human-robot cooperative system and system design of the robot

Dismantling robot was developed for ceiling boards. The system design of dismantling robot includes cooperative system between human-workers and robots. Besides, it has hierarchical system of the independent robot. Indeed, we carried out the dismantlement of ceiling boards by the new method of cutting ceiling boards, and verified the effectiveness of the robot system.

Stable impact and contact force control by UAV for inspection of floor slab of bridge

ABSTRACT This paper describes the contact force control on an unmanned aerial vehicle (UAV) developed to inspect the floor slabs of bridges. Our UAV is equipped with a three degree-of-freedom manipulator on top of the UAV body. To control the UAV for stable contact with the slab surface, the impact force should be considered. The impact force is modeled based on Hertzian contact stress. The control strategy of the UAV is cascade control separated into attitude control and position-force control. The attitude, position and force feedback are PID control. The force feedback is integrated into the position feedback seamlessly, and the output of the force feedback is added to the desired end-point position of the manipulator. This paper focuses on contact of the UAV and the floor slab. Therefore, the UAV is modeled considering the impact force in the vertical direction. The control method in the vertical direction is described, and then the altitude control and the contact force control are assessed. The altitude of the UAV was controlled with a 0.45 [sec] delay during ascending and 1.76 [sec] during descending. The UAV could control the contact force with mean error 1.61 ± 1.08 [N] while the desired contact force was 3 [N]. GRAPHICAL ABSTRACT

Design concept of detection and scanning sensor mechanism for over laid object

The dismantling robot with highly accurate positioning was developed and the robot must cut the plasterboard that is fixed to light gauge steel with the screw bolt under the plasterboard, so the sensor with magnets to detect and trace the light gauge steel was designed [1]. The developed sensing method has detecting mode and tracing mode to keep high position accuracy and high scanning speed. It is installed to the dismantling robot and tested for detecting and tracing the light gauge steel. The test showed that the sensing system and design method is practically useful.