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We have developed an innovative medical round robot “Terapio” in hospitals. This novel robot is mainly tasked to deliver medical armamentarium and manage round data. An implemented omni-directional mobile mechanism and a person tracking control system to follow a medical doctor realize smooth transferring movement from a nurse station to a patient's bedroom. In this paper, person tracking control...
In this paper, system design and motion control of a nursing lift robot which runs on the ground is presented. This supporting lift robot provides a power assist function for transfer aid system with hoisting and lowering, and also an omnidirectional motion function, using DDSS (Differential Drive Steering System). Further, logic control to suppress limit cycle of lift at grounding is proposed. The...
The development of an autonomous mobile robot system has expanded its application across various fields such as for medical service support, automatic vehicle operation, and delivery businesses. In recent years, we have developed a mobile robot which is tasked to follow a medical doctor from an arbitrary starting point to a patient's room, manage medical resources and a patient's electronic information...
In this paper, robust Integral Sliding Mode Control (ISMC) will be proposed for an underactuated rotary hook system in order to deal with parametric uncertainties presenting in the system parameters. By using the proposed ISMC, the reaching phase encountered in the conventional SMC will be eliminated and as a consequence, the dynamic ambiguity, which occurs when the system is in the transient state...
We have developed a grinding motion control technology for an automatic finishing process by newly constructing a feedforward driving-type end-effector module attached to a multi-axis industrial arm. Metal products formed by pressurized filling methods, such as vacuum or die casting processes, often have physical penetration defects on the product surface. However, the manufacture of products with...
In crane systems, rotary hook plays an important role in adjusting the skew angle of payload to match with skew angle of vessels or container trucks. At the present, rotary hook is mainly controlled manually by experienced and skilled workers. Therefore, this paper presents to develop an adaptive input shaping (AIS) algorithm for rotary hook system which can automatically drive the payload to desired...
This paper presents a predictive control system of stepping motor to realize the high speed positioning, and the residual vibration suppression by changing pulse input timing suitably. For the only four pulse input, high speed positioning without residual vibration is strongly required in the high-speed mounting and transferring process of semiconductor tip. In this process, it was made clear from...
We have developed a robot that accompanies healthcare professionals making rounds in wards at hospitals. This novel robot mainly executes two tasks: carrying armamentarium and recording data on rounds. An omnidirectional mobile mechanism and a human tracking control system to follow a specified medical professional realize smooth transfer movement from a nurses station to wards. Data on rounds is...
We demonstrate a virtual face of a robot with minimum humanity. The name of the robot is “shugo-robot”, which is after “shugo-rei (guardian spirit)“. The shugo-robot follows her/his master by using laser sensors, and takes greeting behaviors by gazing to master's friend and others. Thus, he/she is a communication agent on behalf of master. The head part of the robot has a camera, and finds human faces...
Today higher speed of operation and highly accurate weighing of packages during crossing a conveyor belt has been getting more important in the food and distribution industries etc. Continuous weighing means that masses of discrete packages on a conveyor belt are automatically determined in sequence. Making the proper use of new weighing scale called a multi-stage conveyor belt scale which can be...
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