肩の 2 自由度に柔軟関節を用いた 6 自由度柔軟
Contents
1. 4 4 1 8 1 HomeSet 90 0 0 90 90 90 90 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 autoseth 2 30 autoseth 3 30 automove 720 1 N wait 100 902 autoseth 4 40 autoseth 5 70 automove 720 1 N wait 200 autoseth 2 60 autoseth 3 60 autoseth 5 50 automove 720 1 N wait 200 0 2 93 04 autoseth 6 95 12. HHHHHHHHHHHH 12010 2008 2009 2010 6 2 4 LP 100FP 2010 6
3. RC KRS 4014HVICS 10 8V 40 8kg cm 65 0g KRS 4024HVIC S 10 8V 10 5kg cm 48 5g 1 2 185 cm RC 7 RC RCB 1 2HV 7 300g 2
4. 7 20 24 172 9cm 2HV 7 6 2 920 9 L1 L2 L3 L4 L3
5. 0 5 V 256 OIVI 0 5 V 255 11 Es Ath Dimension DATA CHECK E HH TE 1 WW a os nme n ma nim nl niz ns al no 17 ns nt9 nz6e nzr nzs SERWW LIMK waR_0m ot nnz nosl mwl gmsl oe mmzl nm WAR i i Pa I 0 zil zzl gzal sg WAR NT Et RRRHY LINK i YARIABLE ER SERW SERW ER Fa HIHELE LINE 11 3 3 PWM KRS 401 4 4024 0 270 2HV 0 180 2HV 180 PWM IIHHH Hi HH4IHHHHHHHHHHHOIHHHHHHHHHHHHHHHHHHHH2HVMHHHHHHHHHHHHHHHHHH 270
6. 0 7 5 2 5 2 1 9 38 4 Z 100lcm 75lcml 125Icml 15 3 4 4 3 3 4 X 3 Ztan 8 Y 4 Ztan 4 cos 3 16 8 4 3 4 0 17 4 18 3
7. 15 598 36 094 39 899 15408 5 6 11657 29782 54 116 60044 254 58 15 672 7 86 859 4 7223 5 7 413 49 11738 537 73 14182 80 3 deg 24 24 1 120 5 2 5 LP 100EP CP 2FB B CP 2FB B 25 25 6 6 1
8. 9 9 1 92 2 91 02 Os LGCS DSS394 LCC CS CS DC LL CS CCD 2 1 k we 1 7 ee fA 02 qal 0 9 2 5 0l gt 1 2 k 0 rh Bl YD ddl 9 2 fh 0 1 0 2 f 0 9 9 O fi 6 Tin 9 2 0 0 0 0 IIHHHHHHHHHHH 12010 h k 2 h k i gh gf ER ig gt gh i le h k 0 1 0 2 ees lt er k lt e n
9. 9 1 92 2 1024g 4 2008 6 173 cm 5 2HV 2 24g RCB 1 2HV KRS 6003HV 10 0g 67kg cm 11V 2 6 4 2008 2HV_ 5 115
10. 19 17 4 IIHHHHHHHHHHH 12010 a 18 3 19 5 2 2 10V 8ch AD CONTEC ActiveX 2chXY 100msec WW Vx 100lcem 160Icml 20 2chXY 3 45 P3 30 3 15 3 0 3 15 3 30 3 45 4 45 4 30 4 15 4 0O 4 15 4 30 4 45 6 vx V 20
11. 2040 20 IIHHHHHHHHHHH 12010 6
12. 7 8 1 BME Vol 13 No 2 p 34 41 1999 2 Inoue Takahiro Mechanics and control of soft fingered manipulation Springer 2008 3 Birglen Lionel Under actuated robotic hands Sprmger 2008 4 Control theory of multi fngered hand s a modehmg Springer 2007 5 October 2009 Vol 27 No 8 p 102 108 2009 6 84 p 47 56 2006 7 RC 6
13. 35 p 33 44 2007 130 8 RC 6 35 p 45 52 2007 9 RCB 1 6 36 p 37 46 2008 10 RC AGB65 RS C 6 36 p 47 56 2008 11 RC AGB65 RSC 87 p 55 67 2009 12 6 37 p 69 85 2009 13 p 96 99 2002 14 Control theory of non linear mechanic al systems a passivity based and cnrc
14. 9 1 9 2 6 6 1 02 2 6 1 92 9 1 0 2 Ki Ks Ks qd KP K P K IIHHH Hi HH4IHHHHHHHHHHHOIHHHHHHHHHHHHHHHHHHHHH2HVHHHHHHHHHHHHHHHHHH 0 CO GG l 4 DY S
15. L5 3 4 93 96 c 1 9 3 oc 2 9 4 o 4 66 c 3 05 116 0 1 02 3 8 9 9 6 45 x 66 mm 24 2g 14ch 9
16. 91 9s 91 1 1 h 2 02 3 2HV 3 1 2009 RCB 1 RCB 1 CNPC CC 2HV 2HV 10 M16 AD 6ch 5ms CPU 100ms 8ch 6ch 5ms CPU 8ch AD
17. 6 1 17 B amp W RST 916 1 7 100g 67 kg cm KRS 6003HV RC 009 BMI BMTUBMO vol 26 No 7 p 14 p 15 2008
18. RC 300g 800g 300g LP 100FP CP 2FB B 2chXY 3 4 1 2 4 LP 100FP
19. 22 OD HiHH4HHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH 2HVHHHHHHHHHHHHHHHHHH 22 2chXY 100msec 23 2chXY 3 45 3 30 3 15 3 0 w 3 15 3 30 3 45 4 45 4 30 gt 4 15 4 0 4 15 x 4 30 1 4 45 Vx V 2chXY Vy V a Em Em A LH O 0900 lt 118 2 2 2 2 4 2 6 218 8 3 4 8 4 3 5 6 4 5 77 24
20. 8 4 3 5 42 4 5 5 12574 27513 33 742 44491 5 4 60 681 73641 90993 21682 P 13347 0 5331 39 650 0 9342 5 5 47827 16189 14128 47419 21 4 90 4 0 3 4 Vx Vy 3 deg 21 5 2 4 3 4 OCP 2FB B 500 LP 100FP
21. CPU 10ms 100ms AD 24g Ver1 2 118 NN 3 em 2 2 kg 9 Are OL 3 tae 2 RY i tt 1 rr i i ri 4 rir 53 4 NN 0 a ii 9 2 1 UU NS bb er 4 4 7 OY hy W l 1 a 3 2 2HD 20
22. 2 01 92 3 4 5 1 PDP11 NEC PC98 AD DA MP2 24g 122 91 04 1 2 01 01i 1 0 1i h 09 0 1 0 92 k f1 2 df1 d 0 1 df1 d 0 2 df2 d 0 1 dd 0 2 14 18 4 4 HomeSet 90 22 0 90 90 90 90 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
23. QXh Yh Zh cos 9n Cn sm0n Sn c 5 0 0 9 0 0 06 0 0 S Cc 0 0 4 4 0 0 1 0 0 0 1 0 0 0 0 1 0 0 0 1 1 0 0 0 1 0 0 0 0 6 5 0 9 6 0 0 C 0 0 C 0 0 0 0 1 0 0 0 1 1 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 4 4 0 0 1 LZ 0 0 1 0 0 0 1 0 0 0 1 Yh 0 dd 2 ds 4 0 yh 0 AGE 2 3 9 4 0 Zh 0 0 3 32 33 6 0 1 1 dj dg 94 9 4 1 o 9 C gt C dy SiC CC Cj 4 ds CsS4 iC CS4 jS das LSS LS C C584 OO 6O 5 a 1C 8 9 C dp jsC4 CC C C Ci5294 ds S18384 CC CS4 Ci5 2 4 a CO 025 LI CCG CS LC SC dj S28 Uj 9 CaC4 C284 3 CC 8 Cs 4 djs 0 04 aa 1 8 da dp As O MN g 95169OCS TS GS5 Yh aa LOS DS S38S LCCCS GS Zh a DC LSCS LCC 1 1 1 2 6 R hh s
24. 5 1 5 1 1 10cm 10kQ 30kQ 60kQ 4 1 15 15 5 1 2 3 1 90 60 120
25. PWM 259 262 AUTOSETH 1 V216 AUTOSETH 2 V217 AUTOSETH 3 V217 9 6 2 0263 265 HB JUMPIF V04 gt 178 M7 JUMPIE V04 lt 77 M7 JUMP O M7 FX V226 WF V04 FX V226 V226 V64 FX V226 V226 V34 FX V109 FW V218 AUTOSETH 7 V109 C 77 lt V04 lt 178 0 6 V04 266 276 JUMPIF V05 gt 178 M6 JUMPIF V05 lt 77 M6 JUMP M6 FX V220 WF V05 FX V220 V220 V64 FX V220 V220 V34 FX V222 FW V220 AUTOSETH 6 V222 D 77 lt V05 lt 178 9 5 V05 277 286 JUMPIF V01 gt 178 M4 JUMPIE V01 lt 77 M4 M4 FX V224 WF V01 FX V224 V224 V64 FX V224 V224 V34 FX V223 FW V224 AUTOSETH 6 V223 E OD iHH4HHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH 2HVHHHHHHHHHHHHHHHHHH 77 lt V01 lt 178 9 3 V01 287 295 AUTOMOVE 720 1 A WAIT 200 JUMP LOOP 200 1 5Imsec LOO P 296 298 5
26. 2 6 9HV 2 7 2 2 2 CR 1 Development of the Face Direction Control System for Flexible joint type Shoulder disartdiculation Prosthesis SDP with 2degrees of flexible joint type Shoulder motion s configuration using a Motion Processor 2HV Toshiharu KINOSHITA Yuu KAWAI Syouta YAMAGUCHI Yuu KAGAWA and Masakn HISAMOTO Abstract The control of SDP is becommg an mcreasmgly important problem as engineering advance in hardware producton can made a SDP avalable in practcal use But flexible jont type SDP can not control exactly using advanced control for robot systems 1 and 2 have special structure which cancel undesired vibration In the present research a flexible control system for SDP is proposed Informaton of head orientaton and shoulder motion are used as control signals in our systems The control algorithm is so made as to move the termmal device of the prosthesis to the vsual point by mformaton of head orientaton and shoulder moton We propose a MotonProcessor2HV system for a SDP controller The fundamental coordmate control system can move hke human arm Key Words Prosthess Flexible jomt Face Dection control Robot Motion processor2 1
27. 12 4 2 18 91 92 4 3 11 13 500 8 3 AI 1 LC ZZMP 19
28. RC RC PWM PWM Pulse Width Modulation PWM 3 p 96 99 2002 6 19 OD HiHH4HHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH 2HVHHHHHHHHHHHHHHHHHH
29. 8 52 121 HHHHHHHHHHHH 12010 4 2 2 13 4 3 91 2 9 1 92 2 14 eez 3 AD
30. 18 348 3000 18 7 50 5 13 6 113 0 6 BME Vol 13 No 2 p 84 41 1999 IIH
31. FX V126 V38 V26 FX V126 V126 V124 03 04 1 x 2 2 degree radian 128 137 FX V128 SIN V118 03 04 1 zx 2 2 138 FX V130 COS V118 FX V132 SIN V120 FX V134 COS V120 FX V136 COS V122 FX V138 TAN V122 FX V140 TAN V126 03 94 1 z 2 2 139 144 NL FX V114 V114 V110 FX V116 V116 V112 FX V114 V114 V38 FX V114 V114 V36 FX V116 V116 V38 FX V116 V116 V36 0 1 h 0 2i k degree radian 145 151 FX V142 SIN V114 FX V144 COS V114 FX V146 SIN V116 FX V148 COS V116 IIHHH Hi HH4IHHHHHHHHHHHOIHHHHHHHHHHHHHHHHHHHH2HMHHHHHHHHHHHHHHHHHH 0 1i h 9 2i k 52 155 FX V150 V22 V146 FX V152 V148 V130 FX V152 V152 V132 FX V154 V146 V134 FX V156 V128 V132 FX V158 V156 V138 FX V160 V152 V154 FX V160 V160 V158 FX V162 V24 V160 FX V162 V150 V162 F1 156 165 FX V164 V150 V138 FX V166 V152 V138 FX V168 V146 V132 FX V168 V168 V138 FX V170 V156 V166 FX V170 V170 V168 FX V172 V24 V170 FX V172 V164 V172 F2 166 173 FX V174 V30 V138 FX V174 V26 V174 F3 174 175 FX V176 V22 V144 FX V176 V176 V140 F
32. V170 V146 FX V190 V190 V188 FX V190 V178 V190 df 2 d 6 1 223 226 FX V192 V178 V148 FX V194 V152 V146 FX V194 V192 V194 df 1 d 6 2 227 229 HHHHHHHHHHHH 12010 FX V196 V162 V142 f1 230 FX V198 V172 V144 FX V198 V196 V198 FX V198 V198 V166 f1 231 233 FX V196 V182 V146 FX V200 V152 V148 FX V200 V200 V196 FX V200 V200 V156 f 234 237 FX V202 V180 V194 FX V204 V186 V190 FX V204 V202 V204 df2 d 9 1 qdf2 d 69 2 238 240 FX V206 V186 V200 FX V208 V194 V198 FX V208 V206 V208 FX V208 V208 V204 hlradian 241 244 FX V210 V190 V198 FX V212 V180 V200 FX V212 V210 V212 FX V212 V212 V204 klradian 245 248 FX V208 V208 V36 FX V110 V208 V38 FX V214 FW V110 FX V212 V212 V36 FX V112 V212 V38 FX V215 FW V112 kh radian degree 249 254 JUMPIF V214 gt 3 NL JUMPIF V214 lt 3 NL JUMPIE V215 gt 3 NL JUMPIF V215 lt 3 NL 255 258 FX V216 FW V114 FX V217 FW V116 V216 V216 2 3 V217 V217 2 3 126 0 1 02
33. 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 5 V00 235 V01 212 V02 200 V03 250 VO04 300 V05 255 V06 5 VO07 18000 V08 314 V09 600 V10 16 V11 36 V12 40 V13 15 V14 117 V15 298 V16 54 V17 1328 IIHHH Hi HH4IHHHHHHHHHHHOIHHHHHHHHHHHHHHHHHHHH2HVMHHHHHHHHHHHHHHHHHH V18 87 V03 INPUTADC 3 V19 413 V04 INPUTADC 4 V20 538 V05 INPUTADC V21 127 6 2927 V00 V00 V04 LL1 L5 50 56 V09 V20 1 4 NO EN FX VO8 WF VO00 V21 FX V06 VO06 V32 FX VO08 V08 V82 Di 3 0 5 V VUE NG V FX V10 V06 VO06 FX V12 VO8 VO08 FX V22 WF VOO FX V24 WF VO1 FX V26 WF VO2 FX V14 V10 VO8 FX V16 V12 VO06 FX V18 V06 VO8 FX V28 WF VO3 FX V30 WF VO04 F
34. 2chXY 20 16 20 Vy Vx 4 80 45 Y3 0 5 2 3 3 4 20 8 4 Vx VWy 2 8 4 8 3 4 45 45 3 4 30 8 8 3 4
35. V78 FX V97 FW V94 3 4 96 97 V98 V96 2 V99 V97 2 10 1 2 3 4 98 99 JUMPIF V02 gt 178 M5 JUMPIF V02 lt 77 M5 JUMP A M5 FX V100 WF V02 FX V100 V100 V64 FX V100 V100 V34 FX V102 FW V100 AUTOSETH 5 V102 A 77 V02 lt 178 9 4 V02 100 109 JUMPIR V03 gt 178 M1M2M83 JUMPIE V03 lt 77 M1M2M3 JUMPB M1M2M3 77 lt V03 178 110 118 V103 SO1 90 372 V104 SO03 3 2 V105 804 90 3 2 V106 S805 90 372 691 64 PWM 114 117 V107 0 V108 0 FX V110 WF V107 FX V112 WF V108 124 h k 118 121 FX V114 WF V103 FX V116 WF V104 FX V118 WF V105 FX V120 WF V106 FX V122 WF V98 FX V124 WF V99 6091 04 1 2 122 127 FX V118 V118 V38 FX V118 V118 V36 FX V120 V120 V38 FX V120 V120 V36 FX V122 V122 V38 FX V122 V122 V36 FX V124 V124 V38 FX V124 V124 V36
36. 19 automove 720 1 N autoseth 4 30 automove 720 1 N 0 83 05 autoseth 6 0 automove 720 1 N autoseth 2 70 autoseth 3 70 autoseth 5 70 automove 720 1 N wait 200 02 94 95 homemove 720 1 N 602 602 098 04 693 95 92 04 95 IIHHHHHHHHHHH 12010 6 3 7 amp 8 120 OD HiHH4HHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH 2HVHHHHHHHHHHHHHHHHHH 9 10 14
37. HHHHHHHHHH 12010 5 TDU 1200 2kg 100 12 6 RC RCB 1 RCB 4HV 2HV 7 114 3
38. X V178 V144 V134 FX V178 V178 V140 FX V180 V132 V136 FX V182 V180 V130 FX V182 V182 V178 FX V182 V24 V182 FX V182 V176 V182 F4 176 184 FX V150 V22 V136 FX V152 V144 V130 FX V152 V152 V132 FX V152 V152 V140 FX V152 V152 V180 FX V152 V24 V152 FX V152 V152 V150 F5 185 191 FX V154 V24 V142 FX V154 V154 V128 FX V154 V154 V132 FX V154 V154 V30 FX V154 V154 V140 FX V156 V28 V136 FX V156 V154 V156 F6 192 198 FX V158 V24 V134 FX V158 V158 V22 FX V160 V158 V148 FX V164 V24 V146 FX V164 V164 V130 FX V164 V164 V132 FX V160 V160 V164 dF1 d 9 2 199 205 FX V168 V160 V138 dF2 d 0 2 206 FX V170 V158 V142 FX V170 V170 V140 dF4 d 0 1 207 208 FX V176 V24 V142 FX V176 V176 V130 FX V176 V176 V132 FX V176 V176 V140 dF5 d 6 1 209 212 FX V178 V22 V144 FX V178 V178 V128 FX V178 V178 V132 FX V178 V178 V140 dF6 d 0 1 213 216 FX V150 V162 V144 FX V180 V172 V142 FX V180 V180 V150 df 1 d 9 1 217 219 FX V184 V168 V144 FX V186 V160 V142 FX V186 V186 V184 df 2 d 9 2 220 222 FX V188 V176 V148 FX V190
39. X V32 WF VO05 FX V34 WF VO6 V0O1 Vx V00 Vy VI Vx VyVx2 Vy Vx2VyVxVy2 VxVy 57 67 FX V36 WF V07 FX V38 WF V08 FX V40 WF V09 FX V42 WF V10 FX V44 WF V11 FX V46 WF V12 FX V48 WF V13 FX V50 WF V14 FX V52 WF V15 FX V54 WF V16 FX V56 WF V17 FX V58 WF V18 28 46 FX V60 WF V19 FX V62 WF V20 FX V64 WF V21 47 49 LOOP V00 INPUTADC V01 INPUTADC 1 V02 INPUTADC 129 FX V20 V42 V10 FX V66 V44 V12 FX V68 V46 V14 FX V70 V48 V16 FX V72 V50 V18 FX V74 V52 VO6 FX V76 V54 VO8 FX V78 V40 V20 FX V78 V78 V66 FX V78 V78 V68 FX V78 V78 V70 FX V78 V78 V72 FX V78 V78 V74 FX V78 V78 V76 3 68 81 FX V80 V32 V10 FX V82 V42 V12 FX V84 V58 V14 FX V86 V34 V16 FX V88 V60 V18 FX V90 V50 V16 FX V92 V62 VO8 FX V94 V56 V80 HHHHHHHHHHHH 12010 FX V94 V94 V82 FX V94 V84 V94 FX V94 V94 V86 4 82 92 FX V94 V94 V88 FX V94 V94 V90 FX V94 V94 V92 4 93 95 FX V96 FW
40. inD sin Yh R cos sin L Zh COS i bk MK 6 117 7 sn PD sin Yh L R cos sin Zh COS PD tan ml 2 Co 555 EL CE CD TL CS CE COSD a 2 2 NO 2 tan z 2 2 T cos 1 C Fsind f cosd f f 0 Fi Fs F LS L CC S 5 C SS tang EF LS tang L S S C GS ta 5 tang Fs L L tang F sind F cosd Ff 0 Fz4 Fe DICE LC CT ECS TIIECESEE RL CL CCITT CEO F L S SS T LC L T 91 0z 2 9 i 9 2 0 f 8 8 F sin8 F cos8 F 0 1 8 8 F sind F cosd F 0 1 i
41. unt theore ic approach Clarendon Press 1996 15 B amp W Bowers amp Wilkins 800 Series 2009 16 gt FST B amp W Bowers amp Wilkins 683 684 Series 2009 17 19942 18 1988 19 62 1987 20 6 20 2009 21 MP2Editor MotionGenera tor 2009
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