Tracing Type Active Antenna with Friction Independence

具有摩擦无关性的跟踪型有源天线

• 批准号: 12650251
• 负责人: KANEKO Makoto
• 金额: $ 2.3万
• 依托单位: HIROSHIMA UNIVERSITY
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (C)
• 财政年份: 2000
• 资助国家: 日本
• 起止时间: 2000 至 2001
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-12650251/
• 关键词: Tactile Sensor; Whisker Sensor; Active Antenna; Surface Profile; 触角センサ; トレーシングセンサ; トレースセンサ; トルクセンサ; 形状センシング; 能動センシング; 能動触角; 弾性棒

The obtained results throughout our research activities can be summarized as follows :・ We proposed the tracing type artificial active antenna for detecting surface profile through tracing motion.・ The sensor is composed of a straight whisker without any tactile element, an adapter for connecting the whisker and the base, strain gauges for detecting moment, and an actuator for moving the whole system.・ We showed theoretically that if a straight-line whisker is used, the system can detect surface profile with extremely high accuracy irrespective of the friction at the point of contact.・ We confirmed experimentally that the developed sensor system can keep the sensing accuracy of 5 micrometer.・ Due to its slender body, this sensor is applicable for various environments where it is hard to be inserted by the conventional sensors.

在整个研究活动中获得的结果可以总结如下：・我们提出了通过追踪运动检测表面曲线的追踪类型的人工活性天线。 ・传感器由没有任何触觉元件的直晶须组成，一个用于连接晶须和底座的适配器，用于检测力矩的应变计以及用于移动整个系统的执行器。 ・我们表明，如果使用直线晶须，该系统可以以极高的精度检测表面曲线，而不管接触时的摩擦力都可以检测到表面剖面。

项目成果

Makoto Kaneko: "Tracing Type Artificial Active Antenna"Journal of RSJ. 18・8. 1173-1179 (2000)

Makoto Kaneko：“追踪型人工有源天线”RSJ 18・8（2000）。

金子 真: "Envelope Family操りの十分条件"日本ロボット学会誌. 19・7. 63-73 (2001)

Makoto Kaneko：“信封族操纵的充分条件”日本机器人学会杂志 19・73（2001）。

Makoto Kaneko: "Vision-Based Active Sensor Using a Flexible Beam"IEEE/ASME TRANSACTIONS ON MECHATRNICS. 6・1. 1-11 (2001)

Makoto Kaneko：“使用柔性梁的基于视觉的主动传感器”IEEE/ASME TRANSACTIONS ON MECHATRNICS 6・1 (2001)。

M. Kaneko: "Scale-Dependent Grasp"IEEE Transactions on Systems, Man, and Cybernetics. Vol. 30, no. 6. 806-816 (2000)

M. Kaneko：“尺度相关的把握”IEEE Transactions on Systems, Man, and Cyber​​netics。

M. Kaneko: "Tactile Differentiator"IEEE Int. Conf. on Robotics and Automation. 4023-4028 (2001)

M. Kaneko：“触觉区分器”IEEE Int。