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History of Robotics Research and Development of Japan1979ManipulationA Study of Computer Control of Motion of a Mechanical Arm (1st, 2nd, and 3rd Reports)

Masaru UchiyamaTohoku University
These three papers [1], [2] and [3] are based on the results that the author achieved in his Ph.D. study at the University of Tokyo. The papers [4], [5] and [6] are their English translation, respectively. Related papers [1] and [2] are listed. The author's study was supervised by Prof. Sumiji Fujii at the Department of Mechanical Engineering for Production, Faculty of Engineering, the University of Tokyo. The 1st report presents analysis of the mechanism of the robot arm used in the research. The arm is an articulated one with 6 DOF, designed by the Prof. Sumiji Fujii's laboratory, and made by Tokico Ltd. In this report forward and inverse kinematics, as well as singular point analysis, are presented. Characteristics of the singular points such as, that the DOF of the robot arm mechanism degenerates, that the point is a changing point of the configuration for inverse kinematics solution, etc. (Video 1). Planning global coordinative motion that considers avoidance of singular points and, also, change of the configuration of inverse kinematics solution are presented. Then, global coordinative motion that is impossible to be realized by the resolved motion rate control using a Jacobian matrix becomes to be possible. The 2nd report describes the motion control system of the arm. This control system is a dynamic control system in which dynamic characteristics of a controlled object is considered. Trajectory control, force control and compliance control in any task coordinate system to be placed in the workspace, are implemented. In this system, servo error for the trajectory control becomes zero. Therefore, dynamic measurement of external force is possible just through monitoring the servo error. Exploiting those functions, compliant and, at the same time, dynamic tasks such as crank turning, draw lines using a ruler, throw a ball into a box, etc. are realized (Video 2). Incidentally, the control system is realized without using a force sensor, but exploiting back-drivability of the actuators. This method is adopted in the system of the related paper [3]. The 3rd report describes visual feedback control of the robot arm. A vision system that processes visual information obtained through a TV camera at high speed are realized. The vision system tracks and forecasts a moving object. The system is connected to the motion control system of the arm, and operated in parallel with the motion control system. Thus, a system with visual feedback function is realized. Using this system experiment of catching a moving object was performed. Catching position and time were predicted from the position and velocity of the object measured by the vision. The arm moved to the catching position and time, and there and then, caught the object successfully (Video 3).

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Video1
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Video2
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Video3

Correspondence papers

Masaru Uchiyama：Study of the Computer Control of the Motion of a Mechanical Arm (1st Report, Calculation of the Coordinative Motion Considering Singular Points)

Transactions of the JSME, Series C, Vol. 45, No. 391, pp. 314-322, 1979 (in Japanese).
（Link：https://www.jstage.jst.go.jp/article/kikaic1979/45/391/45_391_314/_pdf）

Masaru Uchiyama：Study of the Computer Control of the Motion of a Mechanical Arm (2nd Report, Control of the Coordinative Motion Utilizing a Mathematical Model)

Transactions of the JSME, Series C, Vol. 45, No. 391, pp. 323-335, 1979 (in Japanese).
（Link：https://www.jstage.jst.go.jp/article/kikaic1979/45/391/45_391_323/_pdf）

Masaru Uchiyama：Study of the Computer Control of the Motion of a Mechanical Arm (3rd Report, Dynamic Vision and Visual Feedback)

Transactions of the JSME, Series C, Vol. 45, No. 391, pp. 336-345, 1979 (in Japanese).
（Link：https://www.jstage.jst.go.jp/article/kikaic1979/45/391/45_391_336/_pdf）

M. Uchiyama：A Study of Computer Control of Motion of a Mechanical Arm (1st Report, Calculation of Coordinative Motion Considering Singular Points)

Bulletin of the JSME, vol. 22, no. 173, pp. 1640-1647, 1979.

M. Uchiyama：A Study of Computer Control of Motion of a Mechanical Arm (2nd Report, Control of Coordinative Motion Utilizing a Mathematical Model of the Arm)

Bulletin of the JSME, vol. 22, no. 173, pp. 1648-1656, 1979.

M. Uchiyama：A Study of Computer Control of Motion of a Mechanical Arm (3rd Report, Dynamic Vision and Visual Feedback)

Bulletin of the JSME, vol. 22, no. 173, pp. 1657-1664, 1979

Related papers

[1] Masaru Uchiyama: Organizing Method of Control Algorithms of a Mechanical Arm and Dynamic Control Mode, Biomechanism 3, University of Tokyo Press, pp. 172-181, 1975 (in Japanese).

[2] Masaru Uchiyama: Formation of High-Speed Motion Pattern of a Mechanical Arm by Trial, Transactions of the SICE, Vol. 14, No. 6, pp. 706-712, 1978 (in Japanese).

[3] Doohyung Kim and Masaru Uchiyama: A Fast and Compliant Task Control System for a Parallel Robot to Exploit Its Actuator Back-Drivability, Transactions of the SICE, Vol. 37, No. 9, pp. 880-885, 2001 (in Japanese).

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