Fusaomi Nagata

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In this paper, a joystick teaching system using a fuzzy compliance control is presented for polishing robots. The joystick is regarded as a virtual spring-damper system, so that the joysticks compliance in operation can be easily adjusted according to the friction force acting between the polishing tool and the workpiece. In conventional compliance control,(More)
Resolved acceleration control method or computed torque method is used for nonlinear control of industrial manipulators, which is composed of a model base portion and a servo portion. The servo portion is a close loop with respect to the position and velocity. On the other hand, the model base portion has the inertia term, gravity term and(More)
Recently, many studies on swarm robotics have been conducted in which the aim seems to be the realization of an ability to perform complex tasks by cooperating with each other. Future progress and concrete applications are expected. The objective of this study was to construct a cooperative swarm system by using multiple mobile robots. First, multiple(More)
Multiple mobile robots with six PSD (Position Sensitive Detector) sensors are designed for experimentally evaluating the performance of two control systems. They are self-control mode and server-supervisory control mode. The control systems are considered to realize swarm behaviors such as Ligia exotica. This is done by using only information of PSD(More)
A cast metal is generally produced by using a sand mold. A foamed polystyrene mold is used as the master mold for making the corresponding sand mold. Recently, the development of a flexible machining robot for foamed polystyrene materials is expected in the cast metal industries because of the high cost and inefficiency of conventional large-sized CNC(More)
The computer vision is a field which provides many advantages to all the engineering domains. In this paper, a desktop size NC machine tool is first proposed. The developed controller enables the machine tool to be controlled based on both CL data and NC data generated from CAD/CAM systems. Then, a computer vision component using a depth camera is proposed(More)