2021年6月
熊本城石材の高精度3DモデリングのためのCMGクレーンの自動動作計画
ロボティクス・メカトロニクス講演会講演概要集
- ,
- ,
- ,
- 巻
- 2021
- 号
- 開始ページ
- 1P3
- 終了ページ
- A02
- 記述言語
- 日本語
- 掲載種別
- DOI
- 10.1299/jsmermd.2021.1P3-A02
- 出版者・発行元
- 一般社団法人 日本機械学会
<p>Kumamoto castle was damaged by big earthquake disaster in 2016. We have studied to archive precise 3D-stone data of the stone walls called ISHIGAKI because it should be useful for the renovation and the collapsing analysis of ISHIGAKI. For an efficient renovation, 3D-stone data should be obtained in a short period. The small control moment gyro (CMG) device was prototyped, and the robust controller with a model error compensator was applied to CMG. In this paper, automatic motion planning of CMG crane for high-precision 3D modeling is expeimented. The markers are attached on the stone to calculate the optimal pause of 3D-scanner by using LiDAR, The effective archiving procedure of 3D-stone and the mesuement accuracy are evaluated by an experiment using the mesuement system.</p>
- リンク情報
- ID情報
-
- DOI : 10.1299/jsmermd.2021.1P3-A02
- CiNii Articles ID : 130008135101