柴田 昌明

The paper descries a novel method to extract line segments and circular arcs from the image taken by CCD camera for object recognition. Model based matching is one of the widely used techniques of the object recognition in computer vision, and the position and orientation of the objects are decided with referring the extracted line segments and circular arcs. For the precise and stable decisions of the position and orientation, the accurate extractions of characters are required. These characters are. fast and accurately extracted in the proposed method, while its validity is confirmed in some experiments.

Motion control is now recognized as a key technology in mechatronics. The robustness of motion control will be represented as a function of stiffness and a basis for practical realization, Target of motion is parameterized by control stiffness which could be variable according to the task reference, However, the system robustness of motion always requires very high stiffness in the controller. The paper shows that control of acceleration realizes specified motion simultaneously with keeping the robustness very high, The acceleration is a bridge to connect such robustness and variable stiffness, For practical applications, a technique to estimate disturbance is introduced to make motion controller to be an acceleration controller. Motion control of flexible structure and identification of mechanical parameters are also described.

This paper proposes a unified control strategy of position and force. Our technique is based on impedance control with fuzzy logic and realizes the smooth shift from position control to force control and vice versa. At first, a robust impedance controller based on disturbance observer is shown, and the method to unify the position and the force control through one controller is described. Next, the algorithm to estimate the dynamic characteristics of the environment is shown, and a force tracking control using the estimated parameters is proposed. Finally, the unified control algorithm of position and force based on fuzzy logic is established. The validity of our method is confirmed by several experimental results.

本論文では，多自由度マニピュレータの動作制御において，位置制御と力制御を実現する動作方向が一致する場合の制御アルゴリズムを提案している．特に，ファジー論理に基づいた位置指令，力指令の調整アルゴリズムにより，制御系の構造を変えずに，位置制御と力制御の変換を可能にしている．提案する手法の有効性はダイレクトドライブロボットを用いた実機実験により確認されている．