294
Y. Fukazawa et al.
module and the link module. Part agents of the base module and link module control
the module by the target angle and current angle.
Deterioration is obtained from feedback control and feedforward control. The
feedforward control is given a control quantity in advance. In feedback control, the
control quantity changes by the present angle. The control value rises when the
manipulator repeats its action (Fukumashi et al. 2017). Therefore, the deterioration
of modules is detected by monitoring its control value.
20.6 Discussion
In order to evaluate a part agent system by the module exchange experiment, a
deterioration model is required to extend the life cycle model of the part agent. A
3-DOF manipulator is manufactured, and deterioration experiment is carried out
to create a deterioration model. Deterioration is obtained from feedback control
and feedforward control. The feedforward control is given a control quantity in
advance. However, when the control quantity changes due to disturbance, the deterioration value becomes inaccurate. Therefore, the deterioration value can be accurately detected by updating the control quantity of feedforward control from the state
of deterioration of parts.
20.7 Conclusion
In this paper, we proposed a method to replace module of manipulator using future
prediction of deterioration by expanded life cycle model and manipulator model. We
will create a deterioration model for module exchange experiment to develop a part
agent system.
References
Borriello G (2005) RFID: tagging the World. Commun ACM 44(9):34–37
Fukumashi Y, Nagasawa A, Fukunaga Y, Hiraoka H (2017) Exchange of modules among
robot manipulators using part agents. In: EcoDesign 2017 10th International Symposium on
Environmentally Conscious Design and Inverse Manufacturing A7-2
Hauschild M, Jeswiet J, Alting L (2005) Life cycle assessment to sustainable production: status and
perspectives. Ann CIRP 54(2):535–555
Nagasawa A, Fukumashi Y, Fukunaga Y, Hiraoka H (2017) Disassembly support for reuse of
mechanical products based on a part agent system. In: EcoDesign 2017 10th international
symposium on environmentally conscious design and inverse manufacturing, D6-3
Y. Fukazawa et al.
module and the link module. Part agents of the base module and link module control
the module by the target angle and current angle.
Deterioration is obtained from feedback control and feedforward control. The
feedforward control is given a control quantity in advance. In feedback control, the
control quantity changes by the present angle. The control value rises when the
manipulator repeats its action (Fukumashi et al. 2017). Therefore, the deterioration
of modules is detected by monitoring its control value.
20.6 Discussion
In order to evaluate a part agent system by the module exchange experiment, a
deterioration model is required to extend the life cycle model of the part agent. A
3-DOF manipulator is manufactured, and deterioration experiment is carried out
to create a deterioration model. Deterioration is obtained from feedback control
and feedforward control. The feedforward control is given a control quantity in
advance. However, when the control quantity changes due to disturbance, the deterioration value becomes inaccurate. Therefore, the deterioration value can be accurately detected by updating the control quantity of feedforward control from the state
of deterioration of parts.
20.7 Conclusion
In this paper, we proposed a method to replace module of manipulator using future
prediction of deterioration by expanded life cycle model and manipulator model. We
will create a deterioration model for module exchange experiment to develop a part
agent system.
References
Borriello G (2005) RFID: tagging the World. Commun ACM 44(9):34–37
Fukumashi Y, Nagasawa A, Fukunaga Y, Hiraoka H (2017) Exchange of modules among
robot manipulators using part agents. In: EcoDesign 2017 10th International Symposium on
Environmentally Conscious Design and Inverse Manufacturing A7-2
Hauschild M, Jeswiet J, Alting L (2005) Life cycle assessment to sustainable production: status and
perspectives. Ann CIRP 54(2):535–555
Nagasawa A, Fukumashi Y, Fukunaga Y, Hiraoka H (2017) Disassembly support for reuse of
mechanical products based on a part agent system. In: EcoDesign 2017 10th international
symposium on environmentally conscious design and inverse manufacturing, D6-3