エネルギー変換効率の良い MP2 を用いた柔軟関節
Contents
1. 5 120 12 10 0 52 0 33 1 1 4 62. 6 2 0 1 0 9 0 9 0 1 6 4 0 90 0 0 120 6 5 MM 0 ET KC EE CS Ea 2 1B y 2 am 1 ww sv 1 a a GE 1Oset 15cec Haec 6 4 04 90 0 0 gt 120 0 117 HHHHHHHHHHHH 2012 Tr EE 1 EY 9 2 1 sec 01 0 03 0 04 0 02 0
3. HHHHHHHHHHHHM2HHHHHHHHHHHHHHHHHHHH H1024koHHHHHHHHHHH HHHH hH 6 6 1 6 1 1 94 90 6 2 0 120 6 1 6 3 GL900
4. 3 0 11x lcm 0 15x 1 5cm 0 19x w 1 Scm GL900 1 1 MP2 M16 AD 6 3S5msec
5. 6 4 2 0 2 6 18 04 90 0 0 120 100g 120 EE COC EC CN CD CA cy my wa to pe 4 yy 1 raw ke DE a TEec 1lssec Mserc RR i Se er 6 18 064 90 0 0 120 100g 61 0 63 64 62 20 6 030 74 90 0 2 0 120 1 40 9 4 0 84 0 89 2 0 20 6 10 63 30 6 90 920 120 9 0 8 3 50 0 4 90 8 2 0 120 Ni KN 6 19 0 CZ 0 100g 6 19 120 0 Ce 6 4 3 6 0 04 0 GL900
6. 8 8 4 6 1 0 9 3 30 9 4 90 9 2 0 1207 121 HHHHHHHHHHHH 2012 gt RE EAE EE 8 5 0 1 0 0 3 50 0 4 90 0 2 0 120 8 9 0 1 0 0 3 30 9 4 90 0 2 0 120 8 6 0 1 0 0 3 0 0 4 0 9 2 0 120 ld A i 8 8 91 40 0 3 0 69 4 0 69 2 0 120 122 lllHHH me EE ee mr ET mm ee TN EE 1 1 FE EE 1 EE FE T FE RE 1 ey 4 rE E Mr OM OE EE DI ENE MEE EA HN dn tat Ta 8 13 0 1 40 9 3 0 9 4 0 9 2 0 120 entre ns EE a 0 1 0 9 3 30 0 4 90 9 2 0
7. ZMP 0 8 1 91 0 0 3 0 9 4 0 9 2 0 120 7 7 1 7 1 173cm R C 182cm MP2 7 1 ZN 182cm 9 2 173cm
8. CC G01 A LC LT ia EE EE CT EC CC TH EH 3 4 NH a i Scec Kec 155mc ec am 6 1 0 120 7 jp i FN FN a i i I I WW Pi 1 Ea f rpmy oi a 7 ff OM RENE RE EEE Allsec 7 50sec 6 2 FE NM KEN MN TIE FHS CN EE Ear EE MATE 4414414 1 195ec MecFlser 727rr 6 3 59 2 GL900 USB
9. HOOD HHHHHHHHHHHHM2HHHHHHHHHHHHHHH HHHHH 1024koHHHHHHHHHHH 3 6 3 1 3 4 3 3 6 1 02 93 04 05 66 KRS 4014HV 10 8V 40 8 kg cm 65 0g KRS 4024HV 10 8V 10 Skg cm 48 5g 2 1024g 1660 mm 1124 g 236 g
10. 6 15 9 6 4 GL900 6 1 1 100g 90 0 0 120 0 533V 2 199V 2 199 0 533 1 646V X X V 340 5V 1 646V X 1 646 340 5 X 111 928 120 120 111 928 8 072 8 072 6 4 1 0 2 6 16 0 90 0 0 120 100g
11. 9 2 3 1 1 a 2 3 13 3 14 RC KRS 4014HVICS 10 8V 40 8kg cm 65 0g KRS 4024HVICS 10 8V 10 Skg cm 48 5g 3 13 3 14
12. 1 B W EST 6 0 2007 0 0 2 1024g 1 2 1 1 2HV 24g RCB 1 MP2HV KRS 4014HVICS 6Ss 40 8kg cm 10 8V KRS
13. ZMP 11 1 2 6 2HV 1 jp 113 130 2010 2 RC 6 1 p 131 138 2010 3 MP2Editor MotionGenerator 2009 4 1983 HHHHHHHHHHHH 2012 BME Vol 13 No 2 p 34 41 1999 6 Inoue Takahiro Mechanics and control of sott fingered manipulation Springer 2008 7 Birglen Lionel Under actuated robotic hands Springer 2008 8
14. 7500 0 4000 135 4000 13S 8000 2 5 889 30 3852 130 1 ey g 3 F Bm 3 17 HOOD HHHHHHHHHHHHM2HHHHHHHHHHHHHHH HHHHH 1024koHHHHHHHHHHH RC AD MPZ2EditorSK amp HSW Menu 8000 POSTTION EBITOR 3 1 3 MOTTGN LEVELS PROG A CONECR _ Key Contro PT RERER
15. 6 1 9 2 2 1024g 1 pe El 1 3WW 3 16 PWM RCB 1 3 1 2 RC 2HV MP2Editor 3 17 13bit
16. miniLOOGER GL900 GRAPHTEC 6 17 5 HHHHHHHHHHHH 2012 me re fu I 0 1 0 63 0 6 40 9 2 120 1 6 3 0 64 90 0 2 0 120 0 1 40 8 3 0 8 4 0 8 2 0 120 6 1 0 03 30 0 4 90 9 2 0 120 0 03 50 6 90 0 2 0 120 6 17 0 0 100g 6 17 9 0 120 0 100g 6 17 30 90 2 6 100g 50 2
17. 2009 24 forICS3 0 V1 5 2009 25 e nuvo IMU Z 9 ZMP 2010 26 RC 6 SDP 1 4Skg 2 p 14S 163 2011 27 6 SDP 1 4Skg 2 2 p 167 184 2011
18. MP2 6 1 024kg A coordinated motion control system for energy saving model flexible joint shoulder disarticulation prosthesis SDP robot arm 1 024kg with 6degrees of freedom using IMP2 Toshharu KINOSHITA Akihiro ONISHI Sho HIRAI Abstract In this paper I propose a quite high torque practical robot arm SDP using new RC servo motor By usmg Moton Processer2 MP2 control crrcut KONDO KAGAKU Co 1 can provide a simplified total System of a PWM contol method The flexible joint robot arm SDP have 6 degrees of fieedom 61 shoulder rotation angle 92 shoulder flexion extension angle 03 humeral rotahon angle 04 elbow flexion extension angle 95 wrist rotation angle 06 hand prehension angle I used robot arm SDP movement control program using Script language KONDO KAGAKU Co A practical flexible joint robot arm Flexble joint SDP 1 024Kg can make by new vibraton control theory Flexible Joint Robot Arm Control Kmoshita 1heory was proposed by us and is called FJRACK Theory which is look like FST Fixed Suspension 1ransducer of B amp W Co A Rise time A Fall time Settling time and Steady state deviation using control engineering 1S possible to solve it from the GL900 s data As a result prehension part of flexible joint robot arm SDP
19. RC 7 2HV MP2 7 RC RC PWM PWM Pulse Width Modulation PWM p96 99 2002 6
20. AGB6S RSC 37 p 55 67 2009 16 6 37 p 69 8S5 2009 17 p 96 99 2002 18 Control theory of non linear mechanical systems a passivity based and circuit theoreic approach Clarendon Press 1996 19 B amp W Bowers amp Wilkins 800 Series 2009 124 DOR A RE TNR TET RT FST B amp W Bowers amp Wilkins 683 684 Series 2009 21 1994 22 62 1987 23 6 20
21. 173cm 25 95cm 19 03cm 3 1 RC 3 2 3 1 300 g 100 g 3 14
22. 16 1msec QR C 2 0 0 6 2 3 HOOD HHHHHHHHHHHHM2HHHHHHHHHHHHHHH HHHHH 1024koHHHHHHHHHHH 29 ma mn a
23. DATA WRITE 115 HHHHHHHHHHHH 2012 4 2 4 1 2 MOSITION EDITOR om 5 5 S 1 8 44 4000 4000 4 3 4 1 4 LBVEL 3 PROGRAM 4 5 LEVEL 3 PROGRAM IL LOAD Bxecute 5 S 1 2 5 1
24. Vol 13 No 2 p 34 41 1999 6 7 XB W FST
25. CG lo 6 3 2 6 3 1 92 2 setting time 2 5 6 10 64 90 90 0 120 100 6 7 04 90 0 0 120 6 11 2 031V si Fr Ep Tas ee al a 0 699V yy Lov mm 18 39Rsec 18 714sec 6 8 0 9 0 1 6 10 9 90 0 0 120 100g 118 lllHHH HHHHHHHHHHHHM2HHHHHHHHHHHHHHH HHHHH H1024koHHHHHHHHHHH Ha lolp 6 11 2 92 2 5 0 5 3 0 8 4 0 8 2 0 20 5 6 4 90 2 0 207
26. 1 ih 343 5g 358 5g 3 3 6 gt 111 HHHHHHHHHHHH 2012 3 3 3 4 601 02 3 5 3 10 2 520Ge PE RE II OL 0 8mm 3 5 3 10 3 5 01 1 a WEalWWWET 1 3 7 93 112 3 11 3 8 04 3 9 05 3 10 66 KRS 4014HVICS R
27. 8 CC 116 1 5 2 GRAPHTEC midi LOOGER GL900 GL900 16 2 2 2 29 5 2 GL900 1 1msec
28. RC 7 RC RCB 1 2HV 7 300 g 3 9 5 3 13 3 14 cml 011 1 015x 15 Oo19X 15 045X 037X 3 15 HHHHHHHHHHHH 2012 3 1 1 182cm 3 2
29. Control theory of mult fingered hands a modeling Springer 2007 9 October 2009 Vol 27No 8 p 102 108 2009 10 34 p 47 36 2006 11 RC 6 35 p 33 44 2007 12 RC 6 35 p 45 32 2007 19 RCB 1 6 36 p 37 46 2008 RC es AGB65 RSC 6 36 p 47 56 2008 15 RC
30. 120 8 14 LE LE mm mm EE EL em 8 15 0 1 0 9 3 S0 9 4 90 9 2 0 1207 9 2 9 2 9 1 2 123 HHHHHHHHHHHHM2HHHHHHHHHHHHHHHHHHHH H1024koHHHHHHHHHHH
31. was able to stop vibration of a hand by prmcple of conservaton of enerey Keywords Flexible joint arm Robot arm SDP Shoulder Disartculaton Prosthesis Moton Processer2 MP2 1 2009 3 Ce MYN 61 109 900 9 2 3 HHHHHHHHHHHH 2012 BME
32. 4024 48 5g 10 5kg cm 10 8V 6 6 110 GRAPHTEC GL900 1 1 2HV 2 2007 RC RCB 1 7 300g 3 9
33. A _ Kabot Bate Tin Geherafth QQ 3 18 CP 2FB b 4 1 Set Up k L rm 3 mm OOD EE rlsmm wmlt HIVTimmllmit EE T Fmwirwament 4 2 SET UP Comport NEXT 3 19 CP 2FB b 9 3 18 5V 3402 5V 3 19 CG 4 WRITE Ap 4 1 MP 2HV MP2EDITER 4 3 SET UP
34. pa 0 34 NO 120 0 33 3 4 0 H4 S092 se 120 0 32 61 10 68 0 01 0 82 0 ee 120 0 31 1 0 03 MOA 90 U2 0 1207 0 3 01 0 03 50 04 SO0 02 0 120 0 29 me lt gt 0 28 or Sr Sr 6 9 0 100g 6 6 9 sec 6 2 0 54 9 0 100g i 0 5 1 H8 0 H1 90 6 90 PP NG A 1 st O490 0y 6 9 8 0 42 0 0 4 5 ea 1 6 6 0 100g 0 6 7 0 90 6 0 2 120 6 8
35. 5 1 40 0 3 0 4 0 8 2 20 0 1 0 0 3 30 0 4 90 5 2 0 20 5 0 5 50 4 90 5 2 2 6 12 90 2 0 100g 6 13 0 90 9 0 120 100g 6 14 y Be am LE wi rt NE 13 TP 2 5 csasy i Es E H 1 1 IE ELT II TIED ET ETLE LE i EE HE 6 13 6 90 9 0 120 100g i EC ET lm lplrl 6 14 2 9 2 2 sec 1 4 5 I 0 8 3 0 8 4 0 6 2 120 12 9 9 3 0 8 4 90 8 2 0 20 1 1 0 1 40 0 3 0 8 4 0 0 2 0 1 120 8 I 0 8 3 30 8 4 90 8 2 0 0 9 20 0 8 5 1 0 6 3 50 0 4 90 0 2 0 ce Se 6 15 0 2 0 100g 2 5 0
36. ed Version 10 8V 10 5kg cm 260 48 5g lllHHH HHHHHHHHHHHHM2HHHHHHHHHHHHHHHHHHHH H1024koHHHHHHHHHHH 3 12 KRS 4024HVICS Red Version 10 8V 40 8kg cm 270 65g 8 3 6 G L900 2007 182cm
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