15 Result(s)
within
Masaru Uchiyama
Engineering
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Article
Open AccessHardware-in-the-loop simulation of massive-payload manipulation on orbit
This paper describes a hardware-in-the-loop simulation of massive-payload manipulation on orbit using a master–slave teleoperation system. The main problems in teleoperating a space robot arm from the earth to...
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Article
Optimal transition from hovering to level-flight of a quadrotor tail-sitter UAV
A quadrotor equipped with a fixed-wing (hereinafter referred to as the quadrotor tail-sitter UAV) has been developed by authors. The quadrotor tail-sitter UAV can hover like a quadrotor and can fly like a fixe...
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Chapter
Cooperative Manipulation
This chapter is devoted to cooperative manipulation of a common object by means of two or more robotic arms. The chapter opens with a historical overview of the research on cooperative manipulation, ranging fr...
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Article
Open AccessProposition and evaluation of a collision detection method for real time surgery simulation of opening a brain fissure
In neurosurgery, opening a brain fissure allows an operator to access to the basis cranii and to treat a disease part safely, but the operator is required highly sophisticated techniques. In order to develop a...
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Article
Analytic singularity analysis of a 4-DOF parallel robot based on Jacobian deficiencies
In this paper, analytic singularity analysis of a 4-DOF parallel robot H4 is addressed. Since a parallel manipulator consisting of several serial chains has complex singularities in the workspace, the determin...
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Article
Closed-form forward kinematics solutions of a 4-DOF parallel robot
It is well known that the forward kinematics of parallel robots is a very difficult problem. Closed-form forward kinematics solutions have been reported only to a few special classes of parallel robots. This p...
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Chapter and Conference Paper
Design of a Compact 6-DOF Haptic Device to Use Parallel Mechanisms
We present design of a compact haptic device in which parallel mechanisms are utilized. The design realizes a large workspace of orientational motion in a compact volume of the device. The device is a parallel...
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Chapter and Conference Paper
Dexterous Motion Design for a DD Parallel Robot
This paper deals with design of a dexterous motion for a robot consisting of a six degrees-of-freedom (DOF) closed kinematic chain, and driven by direct-drive (DD) motors. The robot can move very fast and, the...
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Article
Cooperative Control of a 3D Dual-Flexible-Arm Robot
This paper discusses cooperative control of a dual-flexible-arm robot to handle a rigid object in three-dimensional space. The proposed control scheme integrates hybrid position/force control and vibration sup...
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Chapter and Conference Paper
A New Class of Hybrid Motion Simulation Using a Very Fast Parallel Robot
The paper presents application of a parallel robot to a new class of hybrid motion simulation in which most of simulation is done using a complex numerical model and only a small but indispensable part of simu...
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Article
Dynamic modeling of two cooperating flexible manipulators
In this paper, our aim is to develop a model for two cooperating flexible manipulators handling a rigid object by using lumped parameters. This model is in turn analyzed on MATLAB. In order to validate the mod...
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Chapter and Conference Paper
Implementation of dual-arm cooperative control by exploiting actuator back-drivability
This paper presents hybrid position/force control for dualarm cooperation without using any force/torque sensor. The control uses only motor current as force/torque information and exploits motor back-drivabil...
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Chapter and Conference Paper
Multirobots and cooperative systems
Multiple robots executing a task on an object form a complex mechanical system that has been a target of enthusiastic research in the field of robotics and control for a decade. The chapter presents the state ...
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Article
Collision avoidance for a two-arm robot by reflex actions: Simulations and experimentations
This paper addresses the problem of collision avoidance between the two arms of a two-arm robot. In our case, the problem is solved through the reflex action theory. In fact, one arm is protected by virtual pr...
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Chapter and Conference Paper
Asymmetric hybrid control of positions and forces of a dual arm robot to share loads
Experiments have been presented to verify the asymmetric hybrid control scheme presented by Uchiyama for the coordination of a dual arm robot to hold a single object. The control scheme implements both hybrid ...
