JPRS ID: 10356 JAPAN REPORT

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• Document Creation Date: November 1, 2016
• Sequence Number: 2
• Content Type: REPORTS

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JPRS L/ 10356
1 March~ 1982
Jc~ an Re c~rt
p ~
(FOUO 14/82)
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Iv'OTE
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- newspapers, periodicals and books, but also from news agency
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are transcribed or reprinted, with the original phrasing and
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Headlines, editorial reports, and material enclosed ir. brackets
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Unfamiliar names rendered phonetically or transliterated are
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i.tem originate with the source. Times within itecns are as
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JPRS L/10356
1 March 1982
,
- I
, JAPAN REPORT
(FOUO 14/82)
CONTENTS
POLITICAL AND SOCIOLOGICAL
Statement by Form~r Premier Kishi
(Takehiko Takahashi; MAINICHI PAILY NRWS, 28 Jan 82) 1
Fukuda Foresees Turmoil
(Masao Kanazashi; THE JAPAN ECONOMIC JOURNAL, 9 Feb 82) 3
Tanaka Faction Expands
(Kenji Kitahara; THE DAILY YOMIURI, 29 Jan 82) 5
Removal of Nontariff Aarriers Viewed
(Editorial; MAINICHI DAILY NEWS, 1 Feb 82) 6
Disclosure of Arms Development Ater~r iTY�ged
(MAINICHI DAII~Y NEWS, 31 Jan 82) 8
SCIENCE AND TECHNOLOGY
. Mechanism, Control of Industrial Intelligent RobotA Introduced
(KIKAI ST?KKEI, Oct 81) 10
Hitachi Rusic Concept, by Shimon And~, A. TAi,chiha~chi.
Arc-4Jelding Robot 'Mr Aros', by Shimon Anda, Akira
Tsuchihashi
Assembly Robot 'Nebot', by Noboru Morota
Painting Robot 'Kobelco-Trallfa', by Akio Fiirose
Grinding Robot 'GP-1', by Kazuo Minowa
Nuclear F.obot 'EILARM-83A', by Seiji Kawai
~
- - a - [III - ASIA - 111 FOUO)
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1'ULITICAL AND SOCi~LOGICAL
,
~ STATFI`9ENT BY FORMER PREMIER KISHI
Tokyo MAINICHI DAILY NEWS in English i8 Jan 82 p 2
(Article by Takehiko Takahashi]
[Text) t~urmer Primc 111inisler u~as to make hishi, who is habilitation plan. In that
Nobusuke hishi Lecame a Fukuda's boss, a supreme case, Yrime Minister Su~uk~
supreme ad~~iser lo lhe Liheral- adviser. F'ukuda could nnt wiil become unable lo carry uul
Uemocratic Party at the party object to this and sirice Kishi is lhc'administrative refurm' and
com~ention h~~ld on Jan. li on friendly terms w~ith Kakuei �tinanciaf rehabilitation without
There have been tou r Tanaka, the Tanaka faction a tax increase,' on wliich ne has
supreme ad~~isers up to n~w~ - could nol oppose it. I~ this w~ay staked his political carecr, lf
Takco tiiiki. Takeo Fukatla. ihe idea of havit?g a vice that happens, will the prime
Hirokici~i ~tiadao and hen president ~vas shelved and minister haNe lo assumc
Yasui. These four ;save had the partyh~rnaoaywa~presetved.~ political responsibilit~~`?"
experience of either i~eing the Kishi is 85 years old. On Jan. In reply to this question. Kisiri
prime minister or speaker of 21, the day when he b~cain~the anstivered with a very ordinary~
the House of Representatives or supreme adviser, he attended a expression:
president of the House of ineeting of financlal leaders ~�Speaking Iroro~ the stand-
Councillors. They are still and said, "there is a saying point ot common sense, the
active Diet members. 'etec:;al youth and longevity.' In prime minister should take
Being an aclive Diet member this respect, I a~ould like to live political resp~nsibility."
had been a condition attached to actively without my mind But Kishi added:
becoming a supreme adviser. becomingsenile." "I do not know whether
This condition has been waived lilon-PolitiCal Prime Minister Suzuki will do
in making Kishi a supreme so or not. He may not take
advi~er. He added, "I woulcl like to responsit~ility and resign
1'he situatiun ~~ithin the LUP remain uninvolved in hectic because ot the reason. 'whdt
p~litical aftairs and will try to would happen if I were to
m;~de it neccs..~ry (or the part~~ keep my mouth shut." resign?' Even then, as a
re~ulations to be revised in ,~t this meetin , Kishi was ~
ortler to mak~~ Kishi a supreme ~ genc ral principle. he should
auv~;er. Since the o Pratinn ot asked: assume political responsibility
lhc LDP is grasped by the ~~~iPan looking ai the present and resign in such a case. Ttus
'I',~naka Faction. tormer F'riine ~~n~ncial and e~^onomic rema,nsunchanged."
;blinister Fukuri;~ ur~c~d LDP s i t u a t i o n, ~ f i n,~ n c i a l F'inance Minister Michio
1'rc~sid~nt 'l.r~nko Suzuk~ tn .~t rehahilitation without a tax Wat.anabe hinted on Jan. 2'l al a
up a vice president b~tweE~n fhe ~~~crease,' which the prime change of the financial
F~resi icnf and secretar~� mii;ister has repeatedly rchabilitation plan. His replies
kcneral. AI unc iime Prin~e ~nentinned, appears impossible. to interpellatiuns in lhe Diel
Minisler Suzuki considered ~n drafting the bud~et for the have indicaled, however, that
duin~; this but o,~position rose nPxt tiscal year, a choice will he inlends to carry oul the
~rmn lhel'anaka laccion. prubably become necessary be- financial rehabilitalion as
tween a tax increase and a scheduled. This is necessary in
1Vhal 5u~uki lli�u~;ht ot next change c,f the financial re- order lo reject the demands
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_ f~~.~~n~; mau~~ b}~ the c~pposition If lhe income tax is reducrd.
NarUes wr a reduct~un ul tiie il will be necessary W ~over th~s
incume tax. in some way with an increase of
Uirector General Toshio other:axe.~s. This will atfect the
- Komoto of the Econumic "financial rQhabilitation
Planning Agency has the without a tax ~i~crease" plan.
thought that domestic cor. E~~en if ithere is a tr~x increase,
sumptic~n can be stimulated b} it ~~ry ~e necessary, depending
an ihcume tax reduction. The on business trends, to alter the
~cay oi thinking of Chairman tinanriai rehabilitalion plan
_ Ru;:usuke Tanaha ot the L~P (the issuance of deficit national
f'ulit~cal :~tfairs Research bonds to be zero in the fiscal
Council i~ closQ to that of year 198~?.
Komoto. The situation will become
Opinious are preti�alent in the clearer in lhe discussions on the
Liheral-Demucratic Party that budget in the ordinary Diet
'~even it it is possible to shelve session and again in the sta~e o(
an income tax reduction this budget compilation for the next
~~~~ar. it will be neccss~ry to fiscal vear.
rarr}� it out in the next fisca! fiow will Kishi s w~ords that
ye~r." [t is felt that an income '�speaking (rom the standpoint
t,~~ reducuun is e;senfial as
~ of common sense. the prime
e~,~~~1ion counterm~~ASUI'rS 1A'I71~n minister shoulci take political
the u~~ifietl ]c~cal elect~nns and responsiblity" be borne out''
1i~~use of Councillors eiechon The political w~orld is likely to
- tak~~ place next year. be filled with constant tension
Financlal Rehabilitation from noN~ on.
CO�YRIGH7': t�1AINICHI DAILYNE4lS 1982
CSO: 4120%145
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POLITICAL APID SOCIOLOGICAL
FUKUDA ~'ORESEES TURMOIL
Tokyo THE JAPAN ~~ONOMIC JOURNAL in English Vol 20, No 992, 9 Feb 82 p 10
[Article by Masao Kanazashi]
(Text j a co~~ey of knulty problems, bolh
u( domest~c and intcrnational nature.
.I:~E~.+n~~~~~ E~ulitics .cems in for a ruu~h
course this year Takeo Fukuda, former
prime tninister and one ot the biggest leaders
in the ruling Liberal Uemocratic Party, says
tF~t 19P~ w~ll be a year of great turmoils.
F'ukuda recently~ talked with 1l4asao Kana-
zashi, scnior staff w~nler of the Nihon Keizai
S}umbun. The highlights of the interview
:irr ~i~ fnllrn~s:
F:anazashi: You say that 1982 will be a
~�e;~r ~~f Krcat turmoils
I~ ukud:+~ The w~irld situaUon aill be far
_ from quiet today, and thcre is no immc~diate
si~n~ that the situalion �'ill impro~�e. Wilh the
~nlr e~cc~ption of Japan, counlries all over the
~orld are suffering from intlation and
unemplo~�mcnt. i have serio~ [c�ars about
the future of the world economy. I feel my
hair standing on end just b~~ thinking about
ti hat ~~�ill happen in the w~orld.
The current economic confusion is noi
merely a phase of an economic cycle but a
dire result of the oil crises. Man now finds
himself squarel~� confronted, for the first
, time in history~, with the fact that natural
resources are by no means inexhaustible.
The world population, on the olher hand, has
been growing at an alm~st explosive tempo
and is cxpected to easily lop the 6 billion ,
mark b~~ the 2nd of the current century. Man
_ is no longer in a pasition to uphold the mass
cunsumption practice it lias come to be so
used to in the post-w�er }~cars. R'e have to
understand ~he present worldwide confusion
as part of a momentous change man is now
going through.
Q: You say that any large-scale revenue
shortfalls, i[ they develop, will lead to a
political crisis. . .
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�'~/T V~ ~ ~~.~AV VJLi VI~Li/
Some say that [he 5.2 per cenl I~,~~~�r lr~c~l ~,f ~rnE,urt.uir~~
ecunomic groN�th projected b}� the Govero- F:~~en so, there is no deming that Irade
rnent !or the ne~� fiscal year is too high. As trictions are prett~~ bothersome. 1t'hat should
long as the Government has set up that we do about it? In a nulshell, both countnes
target, how~ever, it should do ~ts best to attain should cast aa�ay lheir protectionisUc
it, although the Japanese people are ~ually vestiges. The Suzuki Administration should
gracious enough to accept some margin of be more daring in its open�door nolicy. The
error. Revenue shortfalls are completely United States, on its part, should take
different in nature from some innorent stronger measures to ovQrcome its intlation.
errors in economic forecasts. Public financ~ Unless the Americans do not really try in this
are another name tor national budget and, field, there w~ill be no major improvements in
therefore, are directh� relateci to pol~t~cs. its trade relations with Japan. Japan should
ti1'hat 1 meant is that problems in public not make any s~�eet-sounding promises but it
financc~s, lherefore, ~�ill naturall~~ be treated should open its market as ~~ide as possible.
as pnlitical probtems If tax re~�enues rcrord Restration of the people's confidence
uneY~~cled d~~clines, man~~ w�ill naturally in ~x~litirs must be the first step in sol~~ing a
u�nd~~r ~ehat wiU b~rcrime ~~f admir~istrative series of knott}� problems confronting Japan.
rcf~~rms ~nd recc~n5lruction of public Uon't you think that there is something the
f ~n;inct~~ matter w~ilh Japan's polit~cs toclay?
- 'fh~~re are senvus lrade frictions be A: E ew l.iberal Democrats are com-
t~~~~~�n .lapan and the l~nited States. placent enough to give full marks to today's
I dun't think that the most bas~c p~~i~~~ lt is only natural under the cir-
' problen, exi:~ting betw�een Japan and the cumstances that the general public sh~uld be
t'nited Stales ~s ~r~de frictions. The most ~�er~~ muchwnrnrdabout th~ present pohtical
basic problem is ~~hat political attitude s~;ite Administrati~�e and finnncial rc:forms
Japan ��ill take ~~is-a-vis the United States, ar~r o( ~c,:*.~mt ~~:~portance, it is true, but
the very mainsta~~ of the Free World. The p~,,,ical reforms are even more impcntant.
[inited States is irrilated at Japan's w�illy� H'e have to seriously tackle political reforms
nilh attitude in the face of exceptionally be(ure anything else.
tight international situation The United '
States wants .lapan to play its role as a R~ ~Iany expect you to play the role of a
member ot the 1~'es[crn camp. The Suzuki- cle~~n-up man
Reagan talks held last ~ta~� must ha~�e 1 H'ill not plunKe m}�self into every~day
cenlerrd arrwnd thiti all-important problem affairs M}~ since~rr hope is that Pnme
The prublem o( Ir~~de (rictinns is on a slightly ~timslcr 7.enko SU7Ji!'' K'tIi tr; his best to
cleantie politics of obnoxious impurities.
COPYRIGHT: 1982 The Nihon Keizai 5himbun, Inc.
CSO: 4120/148
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POLI?'ICAL AND SOCIOLOGICAL
TANAKA FACTION EXPANDS
Tokyo THE DAILY YOh1IURI in E7~glish 29 Jan Fi2 p 3
[Article by Kenj? Kitahara;
[Text] Tliere is ;rowin~; bc~lief ~l~at forme, and that a number of Dielmen soo~i w~ill
premier Kakuei T,~i~aE;a ~~;lii be POl1Il(~ enlist in his faction.
ruilty' in thr I,uckhced ~~a}�r~t` trlals because Tau[~ka ; explanattons rew�;~1 ~rirt uf
ot re~Pnt convictir~ns but lhis has not thc truth bt;t not ail uf it.
dampened the drive of his factioii to in- Intrlparty obsPn~crs s:~y thnL Tanuka is
crease i[s streugth in th~� I,tberal-llemo- really intFrrested in rx~~andln~; his fnctiun
cratic Party ~LDP~. wtth an overwhelming nu~nber ot Uictrnrn
First Kenji Usano, Tlnaka's close friend, to overcome somehow a courL verdicl.
was found Kuilty and this week 'tokuj[ agalnst him and that this movement coulcl
~Vakasa, All Nlppon Airu�ays ~ANAi ch~ir- split the I.I)p in the future.
mnn, was found guiity. There are many Tzr,aka believes politics is everytl~in~;
Japanese a~iio wonder how Tanaka can and decides everyth(n~;. Thareforr�, lie
m~tint~in hls influence and e~'en iticrease eauates his trial in tiie Lockheed case to
it ur~der thr~ cirr.~.imstances. the trlals of Lhe G,ul~.; of Four in China
Ttie fact L}111, T1111IS4 retains powerful aiid Klm. Dae Jung ii: South Korea.
political influence even thouKh i-~� is under- Hence he wants his judbment l~anded
~oin~ trial is even more bafflir~g to for- down ugoinst u back;round oY his over-
eiKners. whelmtng potitical power supPorted by
In luct, the US con~; essmen who visited strouR ranks of Dietm~n wi,hin his factirni.
Japan in early Jlnuar}� fnr tniks on the He seems to ha~e be~;im preparing for
btlaterAl trade and srcurlty problems never a rulinQ party split after reRectln~ upon
f111ed to ask how Tanika could continue the 40-day lntruparty ~Lrife of 1979 and
to be st:ch z strong man in Japanese the passing ot a no-confldence m~~ticm
polltics. a(~ainst the lute prime minl9ter Ohira 1n
Tana}:s, w~i~o was forced to s!ep down 1980.
as premier after betng battered witli qucs- Sustimu Nikatdo, ++ecretlry-gencr,~l of L}ic
ttons on his dark ftnancfal dcalln~s at the LDP and a Tanaka man, hus establlshed
I~'o;e1~;n Corn�spondents' Club of Japan, elose coc~t~cts wlth middle-of-t.he-rond par-
recently has Ueei~ ~;rat:tinu interviews to tles siich ns the Komeito and Drmocratic-
forelgn newsmen. Socinlist Party iI~SPI whlch shau~e comm~~n
Tanaka u~u:illy ~;ives the followin~ three security and torel~;n policy vlews wfth th~~
rr.isons why hts ;action contlnucs to LDP. Thfs Tnn~ka t,:~s ordered Ntk;ildo 6u
expand: do, appn,rently to prepare Por a coalition
� The Tari~ka tsiction is a kind ol corn- governmen6 lf the LDP splits.
I~r~~ii~~iisivr huaPital v;hi~li is staf2ed bp This ~,~1ves a pt?re political reason for th^
esperts in (inunce, ~'orei~;n policy, defense, expansion oP the Tanaka fnctlon.
electluns, aiid polftical funds, and so the Of course, Tanaka probnbly watlts to ex-
. ~;lr~ttc~n help.ti memt~crs grently, pand his power because of hls ~vorrles and
� Tanaka i5 indifYerent to worldly gain irri~ations as well.
a~id is e~~.;cr only to prr~mote hls mem- It is true thut the more frtends one has,
}~~~�s, thc sufer onc teels. But how Lrue nrc hig
� In llis 35-years ns a poliLici^'^tQ ~o' - ~ , _~c ~7~
Fi.gure 2. Mr Aros, Rectangular Coordinate Welding Robot
S ~~v
c'~~ Z
~ TW
BD~
i C~ Key :
~~fi'i
~ (1) painting gun
~1~ ~2~ s (2) target position
~r (3) external appearance of
painting robot
, ~b) o.r., Fr~~ (4) ~4) robot coordinates
~d~ ?~~,,r. r~41LR(3)
Figure 3. Multijoint Painting Robot
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_ The coordinate system of the robot will be also affected by oil pressure, elec-
tric driving methods, and the elements of the harmonic drive mechanisin and link.
m~chanism, but to date what affects it most is the computer. Complex and hi~}i-
speed arithraetic processing is required to drive a multijoint robot at high speed
by arittunetic control. A multijoint robot that serves as an intell.igent robot
was realized at last due to the progress in highly efficient microcomputers.
The coordinate arrangement of robots will also be greatly affected by the compe-
tence of ttle computers to be used for. robot control in the days to come. For
your information, the specifications for a weldin~ robot and a painting robot
are given in Tables 1 and 2, respectively.
Table 1. Standard Specifications for Welding Robot Mr Aros
Speed Fast operation
Item Stroke (mm/min) (mm/min)
vertical 1,300 mm 70 ^~700 8,OU0
horizontal (Y) 1,100 mm "
arm sideways (X) 2,000 mm "
sway (SW) �gp o
~
o wrist bend (Bn) -S ^-50�
a, (�rom directly below) " 2,000
U `
,o position reproduction accuracy �1.0 mm
� oil presstire source normal pressure 70 g/cm2, f.low raCe 21 ljter.s/
m~.n, tank cripacity 1110 "
air source above i k~/cm?
required floor area 1,380 x 4,690 ~mn
weighC 1,500 kg (robot proper)
driving system electric-oil pressure servo
control system PTP (point-to-point) teaching system CP
control
arithmetic function spot simulation calculation, corner position
continuous calculation, corner. position
automatic production
~ external symbol 38 symbols (8 for welding condition selection,
~ 6 for welding speed selection, 7 for positioner.
_ � , stop point selection and 17 Cor others)
u
o memor.y capacity 512 steps
u
lutomatic correction oE PTP corrects at each recording point
position information CP corrects space by space
power source 200V (�10 percent) 3 phases 50/60 Hz 35kVA
100V (�10 percent) 50/60 Hz 2.5 kV~
Notes: Weaving function
2. Caterpillar protective cover
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I'Vn VI i'~`~n~. VJa:. ~ia~La
Table 2. Standard Specifications for Painting Robot
Item Specifications
arm, swivel 100� (2,850 mm)
~ arm, up and down 2,500 ~n
~ arm, to and fro 1,200 mm
~ sway of wrist 210�
~ bend of wrist 210�
a 3 twist of wrist 180�
0
~
_ speed Max 1,750 mrn/s
~
oil pressure source normal pressure 105 kg/cm2, flow rate 29 2/min
- o
- power source AC 200 V(�10 percent), three phases 50/60 Hz
10 kVA
weight approximately 500 kg
driving system electric oil pressure servo
control system CP control by PTP (paint-to-point) teachin~;
system)
arithmetic function multijoint coordinates and rectanKular
coordinates conversion calculation, wrist
~ correction calculation, line speed control
- ~ calculation, conveyer synchronous ca]culation
~
memory system core memory 4k (16)
~
o_eaching system remote teaching by teaching box
v
program selection four programs
external synchronous signal seven circuits each for transmission, reception
power source AC 100 V(�10 percent), 50/60 liz 1 kVA
Control Unit
Figure 4 gives a block chart of the control unit for weldin~ and painting robots.
_ An 8-bit or 16-bit microcomputer is the central structure of the control.
Sixteen-bit action directives are output through the servo interface to each

~ shaft of the robot, and the position of each shaft of the robot is ir.put through
t}ie interface by detection using a potentiometer. When a multijoint robot opera-
~.ion is under arithmetic control, multiplication and division calculators and a
trigonometric function table are required because of the need for high-speed ~
arithmetic processing. Recently, a multi CPU system has been widely adopted. An
analog circuit conventional'ly incorporated in the servo of each shaft of the
robot is gradually being replaced by the PWM (pulse width method), indicating an
ever consolidating trend in favor of soft servos.
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(1) ~4> ~S~ (6) (7)
h~��rhM/T
r~~n~�s (3)
~~;sr~ t { v
_ ~~9D ~ ~I ~ o g
'r-7n. ~i~i-3 n`
Y~ s'~a ~~�n tAi
fR l~ { I ~ 7 I
{'~?-7zT1 ~~Sx 1i9-7x~f7,
~1 11 1 ~
fl-, lMwB ~i'/-/L
i~s; 7-a',�~{i?-7zT:C !~!A i:ii Ti'~-7s~fx
(15~ (16) (17
~%7 7 -----y-Y 9i l~i s ~w-., ;,-f.~
7 i i v ~~:.v-ti v,-ti
( r,r~~1 1 1 ) (21) ( )
Figure 4. Robot Control Unit "rrangement
Key:
_ (1) peripherals (13) multiplication division
(2) periFheral interface calculator interface
(3) trigonometric function table (14) console interface
(4) microcomputer (15) sensor
(S) data typewriter (16) servo amp
_ (6) core memory (17) servo amp
(7) cassette M/T (18) timer
(8) ASR interface (19) multiplication calculator
(9) memory interface (20) division calculator
(10) sensor interface (21) operation console
(11) servo interface (?.2) teaching console
(12) timer interface (2,:~) to each shaft of robot
Principal Function
The following four items are considered the principal functions of the intelli-
gent robot, and mechanical sophistication and intellectual development.of the
robot are achieved by upgrading and combining functions.
1. Rectangular Coordinate System Guidance (see Figure 5)
Guidance of robots by rectangular coordinate action directives are easy for man
to comprehend; an act (wrist correctian) that only changes the direction (pos-
ture) of ttie hand without changing the target point of the robot's hand is an
essential function for the free and unrestricted operation che robot.
In order to determine the position of the robot, it is necessary to transform
the coordinates from the robot coordinate system to a rect~ngular coordinate
system. Likewise, as described previously, when the robot is driven by a rec-
tangular coordinate system action directive from man, it is necessary to trans-
form inversely from the rectangular coordinate system to the robot coordinate
system.
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� (1)~~~~ z , ~:r.T ~ F
- ~2~ ex ~
~s i 9Y1 i F dZ i.
dY .
~ ` ~3 ~~~t1~~dfi~1F
~ K~!~
i
~ )
T~ -r.y 4
5 ~ ~.v-,~
~ ) .~~~A,~
�
Z
Y
~
x
Figure 5. Operation of Robot Under Discussion
Key :
(1) target check point (4) teaching console
(2) checkpoint (S) wrist correction
(3) rectangular coordinate guidance
~ z
i:
i, /A
~ i, ~D
~ `~b
~ ~
_ r i
I. - ~ ~
X
fi6~,~
~1~ B ~
~~if~
~2)
. Y
- Figure 6. Coordinate System and Dimensions of Painting Robot
Key: (1) target point (2) painting gun
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I.z the case of the painting robot sttown in Figure 6, transformation from the
robot coordinate system to thF: rectangular coordinate system is accomplished
by Equation (1).
x co�e.~ne o 0 1 0 0 0
Y -sinecosl 0 0 0 co~C-f)~inC-4)h
Z 0 0 1 0 0-~(n(-d)~~(-0) 0
~ 0 0 0 1 0 0 0 l
1 0 0 0 coea 0 ~Ina 0
0 co~ (s-d) ~~n Cx-~6) f~ 0 1 0 0
0-sinCa-0)eosCr-y~) 0 x-sina 0 cosa-fi
0 0 0 1 0 0 0 1
co~6sinp 0 l. 1 0 0 0 0
-ain pcos S 0 f, 0 cos(-T)sin(-l) 0
0 0 1 0 0-~in(-T)cos(-T) 0 0 ~ 1~
C 0 0 1 0 0 0 1 1
However, increases of each shaft of the robot, ee, e~ and ~6 to drive the robot
to the extent of the increases of X, Y and Z axial directions, ~X, ~Y and OZ in
the rectangular coordinate system are obtained from Equation (2).
ax ax ax -t
ee\ ae ae ae dX- K,r t V~`
(d4J- ae aq ae ~dY-KY I
d~ el aZ aZ d2-K= 1
te ap ae
aa_ d .~-d;
~N
- IIl)
dr. T~�NT~ C2)
xr- a~ ep+ aX er
Kr= a~ ed+ a~ er ~ttt)
x~- a~ ep+ aZ er
d-4+~ Ov))
KX, Ky and KZ are for correcting the angle o~ ~he wrist so that the target
point of the hand will not shift when it is turned by AR and OT, and V~ is
given so that the robot can follow the X axial movement at a speed of V~.
The painting robot in Figure 6 has a complex coordinate arrangement. Multipte
solutions are obtained when Equation (1) is inversely transformed, which re-
quires a long process time for assessment of the solutions. In that case, the
speed directive system such as Equation (2) is adopted, but usually Equation (1)
is inversely transformed as long as the robot coordinates are simple.
2. Interpolation
When given the positions at two checkpoints and the posture of ~he robot's
wrist, the target point of the hand is guided to the next checkpoint linearly
at a designated speed while the wrist posture is being changed at the same
speed. This is called line interpolation.
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l~or Chis, each sl~aft of the rob~t is driven according to each microtransfer
distance after obtaining microtransfer quantum ~L = V/~T in one sampling time
_ from sampling time OT and speed V and dividing the distance L between the two
points by ~L into N number of equal portions. However, arithmet ic and driv-
ing mQthods for the interpolation will be the same as in the guidance in the
preceding section.
3. Search for Checkpoints
Checkpoints at each specific location on variously shaped elements can be
searched if a near distance sensor is attached to the robot's hand as shown
- in Figure 7 and paired with the actions shown. For instance, when the steel
- plates orthogonally meet, as in item (a) of Figure 7, the position of the
horizontal steel plate will be detected by the vertical sensor, and subsequently
the position of the vertical steel plate will be detected by the horizontal
sensor, to obtain the location of the checkpoint on the line of intersection of
the steel plates. In the same illustration, examples of search are shown. The
checkpoint search potential range is further expanded, of course, when search
actions are improvised in accordance with the shape of an element, when the shape
is known.
(1)
(3) ~ .
~~a
,
,
,
(2) ' ~ '
.
~a~v7 _i_.~~�r~
. ~
I ~ , ~
~
i ~
1 ' v' L, ~
M~f~S~
(a) ~4) (b} utAi~~ (6) . (c) t~14~~ (7)
~-_�.~~~r.i (8) (9)
i~:~~t~~~t�7 (10)
p IR ~ o~ t ~ y(11)
~ j
~ ~
(d) ~~~tf (12) (e> >h~t!'x (13) tt~ ~?+1 ~ (14)
Figure 7. Various Examples of Work Checkpoint Search Method by Near Distance
Sensors
Key:
(1) horizontal sensor (8) checkpoint
(2) vertical sensor (9) checkpoint
(3) detection point (10) sensor on
(4) orthogonal plates (11) sensor. off
(5) compensation (12) vertical plate
(6) acute angled plates (13) horizontal plate
(7) obtuse angled plates (14) open root
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N'UR ()FFICIAL U~E ONI.Y
4. Computation of Checkpoint
A~ in Figure 8, a straight line that passes through two checkpoints is deter-
mined by those points, and the corner point which is the poii~t of intersection
of the two straight lines can be also calculated. Likewise, as shown in item
(bj of the illustration, the line of intersection of two cylinders can be ob-
tained when the center position and radius of the main pipe and the branch pipe
are given. Checkpoints on the line of intersection can be also calculated.
Ce(Xe,Ye L)
e
~1~ a';' ~"'1~~'
_
(2) ~ --�~s i
` C.(X.,Y.,Z~i !
~ Q;: Cu
C Q"
~~R.
.
(3);a; 2 ~~)(b) ~ifir52w'~~n~~?rc,
'F c i ~ ' : t �
Figure 8. Calculable Checkpoints on the Line of InterSection
Key:
(1) checkpoint (3) point of intersection of two straight lines
(2) corner point (4) checkpoints on the line of intersection of two
orthogonal cylinders.
Corner points are often located at corners of box welding structures, whicli
raises many problematic points for teaching. Zf corner points can be obtained
by calculation, cumbersome teacEiing will be unnecessary. Also, if checkpoints
on the line of intersection of two cylinders are obtained by calculatton, almost
unmanned operation is feasible for multilayer welding of complex cua'ves, which
require excessive teaching time and labor when conventional playbacl~. robots are
used.
Program
Functi.ons of intelligent robots as far as essenti.al parts are concerned arc: all
realized by software. Figure 9 gives an outline of the program structure. The
progress monitor system (PMS) processes multiple tasks. Naturally, for. a hip,h
starting priority level, zn emergency and abnormal stop pro:essing task is all~-
cated. Also, in zlloca~ing the task, full ronsideration of the processing con-~
tent is given in order to shorten the total process time. By using software Eor
the control function, it is feasible to give a delicate abnormality handling
function and interlock function, which are not available in conventional robots.
- As the robot concerned can also perf.orm rationality checks that monitor misteach-
ing and misoperation by the operator, it can greatly contribute to reducing the
teaching processes and preventinb accidents before they occur.
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~
(1) t~ -.t z
~_Tix"r~:
2 3) (4) (5) (6
~
~ In ~ fr 'rt-PN11.F. 1} ~"~11F 4=!ri4z 7~ f~
AA1F7x7 9 9 x~ M1111.9:~x~ M1H1X~7x~
(7) c~~ ~-~,F~~ik~7-r,~-~~c~r~tt~.to~~~~
~8} tz~ x~77~~-~, c_sar~rn.f~t~~
` 9 7 7 i~ -~F v~Y
Figure 9. Basic Structure of Programs by Function
Key
(1) process monitor system (7) robot control subrouti.ne (interpolation
(2) automatic running task calculation, others)
(3) teaching task (8) basic subroutine (trigonometric function,
(4) halt task others)
(5) initializing task (9) subroutine group
(6) abnormality handling task
Conclusion
Welding and painting robots have been manufactured as intelligent industrial
robots. We have discussed the basi.c concept of the robots, the principal func-
tions by which they were realized, and the coordinate arrangement of the robot
proper, control unit and programs.
Welding and painting robots developed on the basis of this concept are now at
work achiev~ng remarkable automation and labor-saving effects. We are deter-
mined to make further efforts in the future to improve the robot's intelligence
along basic lines.
Literature for Reference
1. S. Ando et al. "Arc Welding Robot With Sensor 'Mr Aros, Proceedings of
the Seventh International Symposium on Industrial Robots, pp 623-630,
October 1977
~ 2. S. Ando, "Computer Controlled Industrial Robot for Painting," Proceedings of
Eighth International Symposium on Industrial Robots, pp 689-700, 1978
3. Yoshikawa, Ando et al., "Maikuro Conputa No Sangyo Yo Robotto Eno Oyo
(Application of Microcomputers to Industrial Robots)," HITACHT HYORON,
Vol 59, No 5, pp 11-14 (1977-5)
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4. Takano. Ando et al.~ "~~ku Yosetsu Robotto 'Misuta Arosu' (Arc-Weldin~
Robot ';ir ~ros')," HITACf{I HYORON, Vol 57, No 10, pp 17-22 (1975-10)
5. Enomoto, Ando et al., "Sangyo Yo Robotto No Toso Eno Oyo (Application of
Industrial Robots to Painting)," HITACHI HYORON, Vol 59, No 11, pp 11-14
(1977-11)
- COPYkIGHT: ~fachine Design 1981
Arc-Welding Robot 'Mr Aros'
T'okyo KIKt~I SEKKEI in Japanese Vol 25 No I2, Oct 81 pp 69-72
[Article by Shimon Ando and Akira Tsuchihashi, Hitachi Ltd]
[Text] ~de have made clear that ttie principal functions and basic c~ncept of
intelligent industrial robots explained in the previous article have been effec-
- tive, using er,amples of automation cases of almost manless, 200-pass, mu~tilayer
welding of saddle nozzles for pressure vessels by robots, wtiich searched welding
li.nes, often calculating the locus by themselves, and welded almost without the
assistance of man th= centc~r frame oF an uLl ;~ressure power shove.l when several
points were taug}it.
In this paper. we wil.i provide a concrete explanation of the robots by ~ising two
applied cases to welding work.
One of. these is the virtually manless wetding of construction machine parts by
robots which have a distance sensor in the hand and which search welding lines
by thetlselves practically without any directives from man. The other is the
virtually manless 200-pass multilayer welding of saddle nozzles and cutting of
the open roots by gas using robots without a hand sensor but with the u o~ u~ o N~+
b i i~ i.-~ u~ a~ ~
v N-r~ s~+ u co N 1-~ u co ~7 ~ u~ a~ ~n
b0 rl Y+ O GJ 7�~~,~ y~j f-~ 3~+ .f+ G7
~ uai a~ ~ ~ o ~n o u o ~n a ~ ~
> U~n U> m EE U ~n U
N Ol ri rI N 3~+ N Ul ~ Cl .-1 GO ~ L+
- rl 3a cd D, r~-1 G1 U rl N L+ �r1 3.+ ~
ca a a> u v v~ a ca a~ ~n a o 0 3 0
~ ~
~ 'b
V .-1 O
'-~I ~
J~ td �1 F+ a~ ~1 v~ aG
~ ~ ~ ~ O F+ 'U O
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O 1-~ 41 O 1+ N O G O a1 c'~ .~L
a.~ u~+ cl L+ w a.i G1 F+ w u~ p 00
V ~ri a.~ 'C N V7 rl 1.~ 'Lf ~ cA rl ~0 ~7
m N ~ U O G A U O ~ .a U N f~+ i-+ O
q s~ I Cl U w c0 I a1 v w N I�~ b O ~1 ~
O N N~--I �rl N r~ G rl F+ N~+ O ~ �-1
rl q .-i 4J N 'L1 a.~ r1 a) Gl 'b t~ r~i ~ U N O N
~
pp o ~ I+ N
O ~ ~ 00
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y -O 00 ` ~ ~ o .-1 rl ~ C+ ~C
rs, ~ q o00 o~no 000 ov ~o ~
~n u co 0 0 o ri r+ o 0 0 ~ a o~n
~ d w ~n ~.o ~ ~ u~ ~n .o ri v o~ .
a ~
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y,~ 0 1.~
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u .c .c s~ ~ ~ ~n a a~i ~
O U GO O U b0 O c~
p tU w ~ Q~+~+ 0 G O U
~ ~ ~ 'G 't1 N 'U 't7 ~.-1 F+ �rl
00 0 ~ b o a a~ a~ a~
~ > u~iou ~+~x ~gw ~ o 0
~O �~I w U ,-I .a H w U �ia ~ ~ r~i O ~
~ A ~-~I ~ N w r~-I ~.n m m a.~ i.+ 3~+ cE
F+
U ~
~r O ~
~ 00
N U ~~-I 'd ~ U) N ~'b c~d .C
- r-I �rl .C C'i O u aJ .`d a.~ O~'.. .C b0
,L~ U ~ri .O U! C L+ ~ 1~ ~rl U rl
cd Cl t0 3~+ O p 41 O N ~ 1~+ ~ N
E-+ A q c~ f-+ q 3~ d~ 3
48 .
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F-- aea --1 t-- z~o
~
~ ~
~
X _ 'a
I -
`T_
, ~
1_
Figure 2. General Configuration of Grinding Robot
The inspector is composed of three basic rectangular coordinate shafts. Con-
cerning the driving system, an electric-oil pressure servo system is used for
the base, and an electric servo system is used for the other two shafts. The
general appearance of the inspector is shown in Photo 1(right side). The in-
spector serves two functions: a simulator which uses a simulation sensor
attached to the hand and an inspector which uses a surface inspection device.
These functions can be changed over by replacing the sensor on the hand. The
transfer is simple. The general appearance of the simulation sensor and sur-
face inspection device are shown in Photo 2. The simulation sensor i.s used
during teaching. Automatic teaching is performed.2 The surface inspection de-
vice is structured to measure the condition of the ground face on the surface
by rotating a feeler independent of the direction of the cut marks. The reso-
lution and feeler radius of the sensor are 3 um and 1Q mm respectively.
~
;
.
Ca) Cb)
Photo 2. Sensor of the Inspector Key: (a) surface detection device
(b) simulation sensor
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hUK Uhhll.lAL U,h: UNLY

`1 The work setter consists of two degrees of freedom that drive the turntable.
The rotation of the turntable is endless and is driven by an electric-oil
oressure servo system. The table can be tilted from 0 degrees (horizontal
position) to 60 degrees at intervals of 15 degrees. Fixing, removing and
positioning of work are all operated manually. Incidentally, positioning of
the wo�rk is accomplished by utilizing key grooves in the work.
Th~ grindstone exchanger is composed of a cassette disk, a base and a clamp.
- I~s general appearance is shown in Photo 3. The grindstone used here is on
a shaft, and it is fitted on the grinder through a collet chuck adapter. Two
kinds of such a grindstone can be storec~ 20 each on the circumference of the
cassette disk, and they are freely changed as required during the grinding opera-
tion. The timing of the grindstone exchange is determined on the basis of the
results obtained from measuring the abrasion of the grindstones (measur.ement
entails measuring the radius of the grindstones using a soft touch function
= which utilizes the force detecting device). Grindstones are exchanged by
loosening the screw of the collet chuck after the adapter is fixed with the
clamp. It takes approximately 15 seconds to complete the grindstone exchange.
,
z:r~,.~..;::~~~
:
;9~ ~ w
`
~ ~k ~ ~
~ ~ 0
~~4~qwy
Y
e.' i
.,,t,,
_ M: "
Photo 3. General Appearance of Photo 4. Control_ler
Grindstone Exchanger
The controller is composed of an upper minicomputer and lower three units oi
microcontroller systems (G-SVC, I-SVC and WS/EX). The general appearance of
the controller is shown in Photo 4, and the arrangement is shown in Figure 3.
The main functions of the minicomputer are communication with the lower micro-
computers, point data control and interactive input and output Processing. ":he
lower three microcontrollers are assigned specially to each device and con~ist
of a digital servo system. The interaction with the operator will b~ accom-
- plished using a plasma display and push button (keyboard is for backup during
errors). The plasma display instructs working steps and displays errors and
the condition oE each device. A cassette tape is used as a supplementary
memory and stores teaching data.
50
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;=~:r~-s ~l)
\Z~ GSVC - o�T. i~ ~gJ
liY-7sTx
ISVC - ~
~~s (9)
y~x~
~.zY~i (3)
WS/EX T ~LO~
1 tv4
~-.r.-f~ ~4) i
' t ~ (11)
` ~n~~a
nisr~, ~5~
0 ~nt,f ~6~
g->
:~i~,~
y~,.s
Figure 3. Arrangement of Controller
Key: (6) cassette tape
(1) minicomputer (7) serial printer
(2) interface (8) grinding robot
(3) plasma display (9) inspectar
(4) keyboard (10) work setter
(5) push button (11) grindstone exchanger
Operational Method
The operationa]_ method of this system is comprised of a teaching mode that
teaches worki_ng steps using a teaching panel and a grinding mode that executes
the grindin~~ work by reproducing the work s~eps. In the following, each mode
will be explained. Incidentally, the grinding work is operated by a block
grinding system that executes the grinding work block by block after alloting
the grinding surface to the desired number of blocks.
_ 1. Teaching Mode
Teachinp, is always conducted when a regeneration type robot is in use. This
job directly relUtes to the quality of the product or thc flexibility to meet
changes in the work, particularly with regard to painting and grinding robots,
which makes the need for a simple procedure for changing teaching and data
very important.
This system is designed to simplify teaching by introducing automatic teaching
through a simulation system and a line interpolation function. The teaching
steps are shown in Figure 4. For the teaching of the grinding surface, the
posture of the work setter for each block and the posture of the grinder at
the position of the block's elidpoints are taught using a teaching panel by
driving the work setter and the grinding robot. Afterward, points within each
block are taught by automatic teaching using the simulation sensor of the inspec-
tor. Therefore, the work at each block can be easily reoriented by merely changing
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h~UK urr~~iA~ u~r. uNi.r
_ teaching steps n fi
allotment of grinding ~,~m�yo ,,Q~
surface into blocks
- yo,~e. x~~~r:~,
designation of block number, grind- ~~q,;r~n~
ing method, number of allotment
work positioning ~-~~+nssn
driving of grinding robot , memoriz- ,~,~o.r., f t~a~
ing four endpoints of blocks y~~~~~~~F~x
all blocks completed 4yo~~w7 ~
Y
work positioning '-'0'~~~'~"
driving of the inspector, T:~~~94~d1.
memorizing of inspected points t'~'~
all blocks completed Yy�'"'r `
v -
simulation automatic a~,~_~3~aroTx9-t
teaching start
work setter is set at a s ~ etrical ~-~rv9tt1MF111
y~ t:t ~ h t,. 7~ i909
position and simulation grinding f$~~~~*~;~t-
point data of the ins~de 94YF~
- of blocks is compiled
')-~r.�r94M~td~
Work setter is set at the inspection l=t �r h l., M~YT i
position, and inspection point F~-"~~~
3ata are compiled
u
all blocks completed sy~~~~`7
Y
~s T
termination
Figure 4. Teaching 5teps
the endpoints. Incidentally, the points taught here are the position from
- whi~h to approach the work during the grinding operation. When operating, the
robot grinds the work while correcting the taught points by itself so that the
- pressing fo~ce of the grinder comes into com,pliance with the suggested force
using the force detecting device.
2. Gri.iding Mode
The grinding job starts by operating the puah button on the front panel of the
controller according to the instru~tion of the plasma display after setting rhe
work. At this tj.me, if the work data is not contained in the minicomputer's
memory, the corresponding data can be read from cassett~ tapes to carry out the
job. A flow chart of the grinding operation is shown in Figure S. In the
52 ~
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gr ind ing j ob 4
settin of work on the work setter �-'~9-'
g t Y9~.t. f
pattern number key-in ~s*-T~
start ~ ~ - ~
~
grindstone exchanger? ~s~'~1
grindstone exchange ~ s ~ ~
~ block grinding ~
all block grinding complete? ~4~7; "
v
all block inspection ~'~,~ng
ground surface O:C ?AZb~~~ ~
- Y
_ terminate 1~ .f
- Figure 5. Operational Steps
grinding operation, all blocks are first ground twice. This procedure is
practiced to shorten the work time, since the pressing force set at the ini-

~ tial stage will not incur excessive grinding in the first two applications.
- Afterward, the grinding condition (wave height of the cut mark) of each block
is measured by the inspector, and the subsequent grinding task schedule will
be decided based upon the results. The above stegs are repeated until the
= desire~d surface accuracy is obtained.
_ Grinding Results
Regarding a grindi.ng method which uses a grinder, generally, there is a method
which grinds one line at a time as a grinding machine does, and there is a
_ method which grinds the entire surface by random motion of a grinder. For a
grinding task that requires precise surface accuracy such as the grinding of
metal molds, the random grinding of the entize surface is more suitable. This
system incorporates a weaving grinding which grinds by swaying the head of the
grinder lef t to right. The cut marks on the metal molds used in this case as
- the work objects have undulations of approximately 100 um. The appearance of
the undulatory cut marks are shown in Photo 5, and the grinding results are
- shown in Photo 6. Photo 6 shows the ground state of a female metal mold with
an opening of approximately 340 x 440 mm when the work was divided into 26
hlocks (teaching block numbers 13, teaching point numbers 13 x 4, automatic
_ teaching point numbers approximately 500). The maximum total grinding frequency
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1'l)K UMMiLIAL U~L VNLY
and surface accuracy of the finishing were set at 3 and 31 um respectively.
The grinding results obtained under this condition showed an overall surface
accuracy of 30 um, and grinding frequency of 2-3 times.
~
~
~
;i~,~
II , ,I,~~;,, ,
` `
~
i,~i
. r.
I'
~ , ,
f~i;,� .-.i , ,
_ ,~`tt;,}.,
' rU~~~~ .
Photo 5. Cut Marks Photo 6. Ground Surface of Work
Conclusion
Whether or not the given functions y r~oot which is made to do a job such
~ as a grinding robot can be fully utilized depends to a large extent on ttie know-~
how of the operator, unlike the conventional robot used for carrying objects.
In particular, the precision grinding robot developed at this time requires
know-how of an operator. This grinding system is currently being introduced
to an actual production line and takes care of almost 80 percent of the grind-
ing task. Meanwhile, know-how necessary for precision grinding is being
accumulated.
REFERENCES
l. Okamoto, et al., "Gurainda Sagyo Robot No Kaihatsu (Development of Grind-
ing Robot)," SL'MITOMOJUKO KIKAI GIHO, Vol 24, No 72, December 1979, pp 1-100
2. Taniguchi, et al., "Narai Sochi o Mochiita Sagyo Robotto No Kyoshi (Teactiing
o� Working Robots L'sing a Simulator)," 22d Automatic Control Federation
_ Lecture Meeting, 3029, 1979.
COPYRIGHT: Machine Design 1981
54
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Nuclear Robot 'BILARM-83A'
Tokyo KIKAI SEKKEI in Japanese Vol 25 No 12, Oct 81 pp 85-88
[Article by Seiji Kawai*, Meidensha Electric Mfg Co, Ltd]
[Text] This is an introduction of the BILARM-83A robot which can skillfully
handle a task mainly in a radioactive environment associated with nuclear
power.
Generally, it is called a power nanipulator. Recent models incorporate a micro-
computer, and a robot-like application is being devised. However, the Cypical
use of this machine is different from that of a robot at a mass production fac-
tory. It is not meant to handle repetitious simple casks. Precisely, this is
a handling machine which carries out unspecified maintenance work too difficult
to be handled by autamated systems in a radioactive or especially hazardous en-
vironment where man cannot work.
Slave Arm
BILARM-83A was developed by Meidensha with the guidanr_e of the Power Reactor
and Nuclear Fuel Development Corporation. In this machine, a bilateral servo
mechanism is adopted to give a sense of force. On the other hand, since the
_ joint closely approximates a human arm, its action range is very wide and it
is very easy to use.
- Photo 1 shows the slave arm. The stan-
dard cross-section of the arm is circular,
and it is designed to have a safe and easy
approach to the machines and equipment to
be handled when it is in operation. Of
course, the driving part is structured to %'~a'`
contain all the wiring inside. The beau-
tiful smooth external appearance is the
result of function and miniaturization.
~
The power slave (PS) generally handles ~i ~ Y'
unspecified maneuvers through remote con-
trol by the power master (PM) operated by
an operator rather than through a general
playback opexation. There are various
support syst~ms. The concept of the arm
is s}lown in F igur e 1,
Photo 1. PS: Power Slave
*Seiji Kawai: director, Mechatro Department, Mechatro Business Headquarters,
17-1-2 Osaki, Shinagawa, Tokyo, zip 141, Tel (03) 492-1111
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- . - - - -
- _ ~.,..-(1.)
,
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~
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T
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' T~z (S> ` ~ " fi~l
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~ M~ Mw
i , i ~ i ~
~ ~~,A~ ~ CRT ~ Mn i
' ~ � I I
- , tPS) irv~~ �~�.,~y\.~` ~�'-_7t?-` ~ I i 1 ~ I ~ I
~ ~ ~ o - ~ \ ~ , . crraf (l:i~j~' ~ ~ { ~ ~ i ~
~I ~
i~1~) 2) I i ; i i i i i
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~ ' ~1~~ n ? ~ ~ _ _
~ = fi ~ ti
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' ~ (i) uU ~ ~20~ ~211 (22) (23)
, (17)(18) ~19~
Figure 1. Concept of Main System
Key:
(1) span (9) power slave (17) controller (I)
(Z) carriage (10) telescope stroke (18) controller (II)
- (3) bridge (11) dividing wall (19) monitoring controller
(4) runway (12) closed window (20) display tube
(S) telescope (13) power master (sel�-diagnosis)
- (6) camera CR (14) master on pedestal (21) left eye monitor
(7) camera CL (15) main control panel (22) hand monitor
(8) camera CH (16) support system control panel (23) ri~;ht eye monitor
The securing of vision is the most important element in a system such as this.
Viewing the PS and the object to be handled in ttie sealed chamber through the
window, an operator performs tasks within a range of several meters. Other visual
support comes from two groups of ITV cameras: ITV camera CH that always secures a
field of vision of the hand, ITV cameras CR and CL on the shoulder of the PS
_ which are effective especially for remote-control tasks. Also, a monitor TV
displays the work area. These shoulder cameras work by a servo universal head.
A system has been developed whereby a PS operation signal is processed by a
microcomputer, and hand movement automatically follows. In addition, automatic
diagnosis and warning of the PS work condition and operational steps can be dis-
played on the display tube.
Likewise, as a typical PS travelling system, three-dimensional travel is made
practical by a telescope that moves up and down and a carriage and a bridge that
travel sideways and straight.
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With these systems combined, it is possible to carry out remote control of
the tasks in every corner of the space in the sealed chamber, but the effi-
ciency is slightly lower than if the job were directly handled by a human.
Nevertheless, considering that it is often not possible for a huamn to do the
job in radioactive conditions, and if the operation by a human entails decon-
tamination steps, these robot systems are obviously effective and useful.
Actuator and Sensor
The PS actuator is small and light; it uses a DC motor which gives high torque.
The DC motor used is a special kind which has passed inspection after a radia-
tion test with carefully selected insulating material and lubricating oil, be-
cause radioresistance i~ demanded of the motor. The PS has seven degrees of
freedom from shoulder ~.u wrist and one degree of freedom that permits hori-
zontal movement of i,ne fingers; the DC motor consists of only two types, and
innovative gearing is 3esigned for the decelerator. Smal]_ size and light weight
are also required of the decelerator. A harmonic drive component is used for
all joints.
For the decelerator output of the PS actuator, a potentiometer is integrated
as a position sensor. PoF~er transfer in each ~oint is extremely simple. A
unit which is a part assembly of the DC motor, decelerator and potentior.?eter
is contained in a tubular link of each joint, as seen in Photo l. In this
structure, the PS is directly driven only by gears which are highly reliable
compared to conventional models, which are driven by chains and wireropes.
Also, during operation and traveling, it is easier to manipulate the power
_ slave because of the absence of the protruding driving mechanism on the arm.
Among the degrees of freedom giv~en to the PS, the torque of the actuators, i.e.,
the three degrees of freedom counting from the fingers--grip, wrist bend and
wrist twist--is checked by a built-in load cell. These three degrees of freedom
on the power master side are arranged the same as on the PS side. They work as
sensors that feed back the load reaction force generated on the PS side to the
operator, contrary to transferring the force of the operator proportionally to
the PS. Control of the sense of force such as this is called bilateral control,
and its principle and structure are shown in Figure 2.
.:~7--~.t?;~M; ~1~ .;7-x'v -:(�5~~~2~
-~?~F~.~W- (3 (4)
ti a : 5 ) Key :
e~r~ J r, (1) power master ,
B~ (2) power slave
-d: (3) torque detector
- (4) driving part
(S) position detector
:M~3ts(6)
- + (6) amplifier
T, r:
Figure 2. Bilateral Control
57 ~
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MUK VMM1l.lAL U~N UNLY
Several bilateral systems such as this have been researched for some years
- and put into practice using a relatively simple oil pressure driving mechanism.
A bilateral control for nuclear robots, the origin of the research, however,
is still in the development stage in every country. One of the reasons for
this is that all that GTere developed previously were not fully comparable to
, the purely mechanical bilateral sense of force obtained by the conventional
"master/slave manipulator" regularly used in nuclear power research facilities.
However, recently attention has been drawn to an electric-driven power manipu-
lator with a bilateral sense of force and good movability due to the scale-up
of nuclear industrial facilities and the strong appeal to reduce the radioactive
exposure of workers, and BILARM-83A developed by our company has been adopted.
When this control is adopted, vision is likely to become insufficient in large-
scale facilities, but an operator can prevent irrational operation by using the
sense of force in such a case. Breakage of systems on the other side or break-
- age uf the PS itself can be prevented. However, at the present stage of pro-
gress, in order to avoid the complication of control lines and the complication
of the arm tare balance compensation, the degrees of freedom are limited to three
in the hand which are considered most effective for the job. Position control
is provided only for the elbow and the shoulder.
Application of Microcomputer
Regarding application of the microcomputer, it is sometimes used for playback
control, but other applications are more prevalent since its typical use is for
unspecified tasks with little repetitious driving. For example, when letting
_ two ITV shoulder cameras automatically follow the movement of the hand, elbow
and shoulder signals are used for arithmetic processing by a microcomputer
among the PS potentiometer signals--excluding signals beyond the wrist, which
does not move a lot when viewed from the shoulder--and the position of the
hand viewed from the shoulder is obtained. The results are used for drive con-
trol of the electric universal head with three degrees of freedom--rotation,
elevation and twist--which makes it possible far the two ITV cameras, which
are equivalent to left and right eyes, always to follow the hand of the PS,
automatically placing it in the center of the field of vision when an operator
operates the PM.
It appears that an attachable camera mounted on the wrist such as Camera CH in
Figure 1 is fully satisfactory to get a constant view of the hand. However, a
camera placed in such a position serves only as a supplementary vision to the
operator, because the monitor pictures turn upside down with the turning of the
wrist. Incidentally, as a simpler method of using the ITV than the conventional
generally practiced method, actions of the PS can be followed with an ITV camera
fixed on virtually orthogonal walls that run in two directions using a zoom lens
and a remote control universal head. In this system, the entire picture of the
PS and partial enlargement of the hand are possible if necessary. However, an
ITV camera operator is needed in addition to the PS operator. It not only takes
time to follow the PS movements, but the operator must construct the movements
judging himself as to the correct direction from which the monitor pictures were
taken. Specifically, when the PS rotates at the shoulder, left and right senses
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totally reverse at a turn of 180�, and usually an operation miss is likely to
occur because the operator cannot handle this coordinate transformation by in-
tuition.
As an additional application of microcomputers, we are developing a system which
_ conveys to an operator organized operation support information includin~ opera-
tional steps and overload warnings.
Standard Specifications and External Dimensions
Standard specifications for the PS are shown in Table 1. Also, Figure 3 shows
one example of a traveling system and the external dimensions of the assembled
system.
- Table 1. Standard Specification ofPS
Action value Action
Item Active part Master Control box speed
1 Shoulder (vertical shaft) turn 90� 400� 8�/S
2 Shoulder (down-right side) sway 90� 160� 8�/S
3 Shoulder (down-forward-up) sway 165� 8�/S
4 Elbow turn 150� 10�/S
S Elbow bend 135� 10�/S
6 Wrist twist 135� 250�
400 kg�cm 30�/S
7 Wrist bend 90� 180�
400 kg�cm 30�/S
8 Finger standard parallel link MAX 127 mm MAX
opening and closing MAX 100 kg 15 mm/sec
9 Camposite handling load FULL RANGE 25 k~
Downward and other positions
where force is easily applied SO lcg
Suspended downward from arm 100 kg
10 Under shoulder hook handling 450 kg
11 Telescope extension and retraction
400 mm 0.4^-4.5
m/min
12 Required power source 200/220V, approximately
50/60Hz 6 kVA
Incidentally, the PS can be operated by intuiton by a PM or it can be operated
joint by joint, in an operational angle range to which normally an operator can-
not physically bend, by a separate accessory controller. Therefore, the action
values of both ways are shown in Table 1.
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1
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