iMCs05 マニュアル
Contents
1. Inverse_Kinematics_R It is difficult to calculation E El H H C1 998 2003 Copyright Xs Research Carparatian 15 2003 1Xs Research Corporation All right reserved IMCs05 Ver 0 9 0pen Save2. Main Humanoid Rabat Cantraller lMgin Moetion Link Parameters Set Motion Data key Binding haracterCommand run matinn_h repetitinn 3 a En FF EE 5 3 ee Lm I oS 8 9 a a wm a set initialization cnmmand FF hil Eg tn il 1 Calihratinn start stop command hi r ml C1998 2003 Copyright Xs Research Corporation hn Motion 0 Motion_15 N N gt 0 N 1 SP EP N 1 20 2003 1Xs Research Corporatnon All right reserved IMCs05 Ver 0 9 5 4 2 1 iMCs05
3. min max degree 5 2 Center Position Center Position 0 Humanoid Robot Cantraller X Main Mtion Link Parameters Set luotion Data Key Binding Right Arm Kill i ET EA CH21 nnn 1 CH0 FE mm mS an Hd 1 i C998 2003 Copyright Xs Research Corporation 2003 1Xs Research Corporatnon All right reserved IMCs05 Ver 0 9 5 3 5 3 1 or i Motion Generator i CH 18 SP EP Right Arm Se Saye ceerpot 7 8 357 io lOpenlswel lt Lloe
4. Humanoid Robot Controller Humanoid Robot Controller Humanoid Robot Controller Ef FI 13 2003 1Xs Research Corporation All right reserved IMCs05 Ver 0 9 4 2 4 2 1 IXS Researc orp cs http 7 www lxs co 1p Humanoid Robot Controller Version 1 0 S switoh motor ON OFF command set initialization command A auto command D Send motion data cohll Baud Rate 19200 CII8 2003 Copyright Xs Research Corporation Serial Port Port 3 2 COM Baud Rate 19200 iMCs05 ON Connect Motor Warn ACK
5. Send iMCs05 RAM 1 iMCs05 Humanoid Rnhat Contraller Main Motion Link Parameters Set Mstion Data Key Binding Select Motion File VONTIR Motion 2 Motion_3 Motion_4 Motion 5 Motion_6 Motion_7 Motion 8 Motion 9 Motion_11 Motion 12 Motion 13 Motion 14 Motion 15 Select al C1 998 2003 Copyright Xs Research Corporation 19 2003 1Xs Research Corporation All right reserved IMCs05 Ver 0 9 4 2 5 Key Binding Key Binding Key Binding Set Motion Data PC Character ASCII 0x21 0x7e
6. Send iMCs05 Humanoid Robot Contraller in IMotion Link Parameters set Mstion Data Key Binding Select Motion File Motion_ Motion_ Motion_ Motion_ Motion_ Motion_ Motion_ Motion_ Motion_ Motion_ Motion_ Motion_ Motion_12 Motion_13 Motion_14 Motion 15 Select A Reset C1 998 2003 Copyright Xs Research Corporation 5 5 5 4 Motion_0 0 Key Binding 1 Huimannid Rnhnt Ciontroller Mgin ktien Link Parameters Set Mtion Data Ikey Binding CharacterCommand Comment Moton0 25 2003 1Xs Research Corporatnon All right reserved IMCs05 Ver 0 9 g go 0 1 go 0 0 1
7. Link Parameter 5 8 1 z 8 inv 8mm Fall a Rnll lu 0 im 6 _ 96 mm Fitch Hgg dD hm dee gHH mm aW dee gH IT dee roll pitch yaw 0 27 2003 1Xs Research Corporatnon All right reserved IMCs05 Ver 0 9 2003 1
8. 6 Fix degree Humannid Robot Cantraller 0 0 0 0 cr lcocwl min maa lt EO ET CG SE 1 i 0 0 OL 2 min max see IC I EC EH 26 OO c degree We 8 4 n No 0 Bp ll Max see EIC ool De EE 0 0 0 B cw rs lccwl min max ee EI CT ET EO EN EE 4 0 0 0 Bp ITiIh max 4 0 0 C998 2003 Copyright Xs Research Carporatian Degree degree degree Min Max Pulse 17 2003 1Xs Research Corporation All right reserved IMCs05 Ver 0 9 Right Leg Left Leg Upper Body 1 Upper Body 2 CHO CH23 Center Position Humanoid Robot Cantraller 3oo0 CH22 EE MN DES Oa 3nnn ja RightArm em i GBD Ei CS 3O lp
9. iMCs05 iSs01 iSs01 14 2003 1Xs Research Corporatnon All right reserved IMCs05 Ver 0 9 4 2 2 Motion Motion Motion inv
10. 5V SW100 5 2003 1Xs Research Corporation All right reserved IMCs05 Ver 0 9 LNo Opm 5 Short J100 GND GND J101 VCC A VCC VCC J102 GND A_GND GND A_GND 2 3 iMCs05 SW100 Pin1 Pin2 Table 2 3 1 mm me feemw ov ww gw ems 1 w gm leemyme 3 ef W memede Qnitial eosition gt w w lmwwee 2 4 iMCs05 Humanoid Robot Controller ZH3 RC iMCs05 CN ZH3 double 20cm RS232C iSs01 iSs01 ZH7 double 15cm 6 2003 1Xs Research Corporation All right reserved IMCs05 Ver 0 9 2 5 iSs01 CN101 CN100 SW101 SW100 2 6 IiSs01 RS232C D SUB9 CN100
11. B7B ZR CN101 5V 4 FWE Flashwrite enable Pull Dom ae mi cl 6 RST GND 7 2003 1Xs Research Corporation All right reserved IMCs05 Ver 0 9 BO2B XASK 1 CN102 Mo lI 1 lpmW 99 0 0 0 GND SW100 SW101 Hm rin 2 3 iSs01 SW100 Pin1 Pin2 Table 2 3 1 pm pg fmemw o gm gm lmiwes 1 w mw lmwwwwe 8 2003 1Xs Research Corporation All right reserved IMCs05 Ver 0 9 3 3 1 PC PC RS 232C iSs01 iMCs05 CN100 iSs01 CN101 ZH7 double 15cm iSs01 PC COM D SUB9 Cable 2 To Pc isso1 P Female Female
12. iMCs05 iMCs05 CN 10 2003 1Xs Research Corporatnon All right reserved IMCs05 Ver 0 9 4 Humanoid Robot Controller 4 1 CD ROM HRC Setup exe Humanoid Robot Controller I Humanoid Robot Cantraller 7 1 ea 7 Setup Humanoid Robot Controller ff a Humanoid Robot Contraller Ng 2 9 Humanoid Robot Controller 29 4 2 CMPewen Files Humanaid Robot Cantrall
13. EP SP SP EP OFF Save mton Save hotiorn 10 iMCs05 16 2003 1Xs Resea
14. o ECPIEPCIP ECPIEPCIGP mm e ETE E 3 0pen center potr Mntinh EheratnF SP EF EE Nr ave Clea crerpor ee ET a gt EE EETPTEPTLIPPY 5 3 3 Motion Generator 100 2 ntinh EhEratnF PP EF Get en Sawe Clear WE 5et pehn Sawe er poasl potr 5 EET ET TT pe EE EEEPCIT pL e 24 2003 1Xs Research Corporation All right reserved IMCs05 Ver 0 9 5 3 4 Motion Generator Save motion_a motn 5 4 Set Motion Data 5 3 motion_a motn 1 Motion_0 0pen motion_a motnm
15. potr Save Set tinri enerator Sova concrpor gt Topee TSssT st Cpmn Sae ll st Opsn Saye i Cpsn Saye 6 si Opsn Saye 20ms 1 50 SP EP EP SP
16. Baud Rate 19200 iMCs05 Connect Motor ON iMCs05 iSs01 iSs01 5 1 Link Parameter 5 1 1 4 2 3 x y z 0 0 0 x y z ae 0 0 Bp oy 0 0 0 Bcw Fe lccw se ME gt TN ED cc 0 0 0 W cw lccw llll i sool 4 0 0 0 Bow Fe lccwl Tilh sce mml 0 0 0 Cew Fe lccwl mml 4 0 0 W wl Fe lccw deg 0 ol Reset C
17. hi iC0 nn 1 te Right Leg Cn II8 2003 Copyright Xs Research Corporation Save Link Parameter Inkp Save 18 2003 1Xs Research Corporatnon All right reserved IMCs05 Ver 0 9 4 2 4 Set Motion Set Motion Data Set Motion Motion iMCs05 Motion_0 lt Motion_15 0pen iMCs05
18. Motion_0 5 6 Main Main g 5 7 Windows 2 1 1 auto1 auto E 2 M KeyBinding Wd 1 tn n 20ms 50 1 Main Auto 0pen Send iMC
19. Straight ZH doub le 15cm IMCs05 iMCs05 CM100 TTL TTL 3 2 Port 3 1 1 COM1 DVDyGD ROM DE ATAATAPI POMCIA FUSB Lniversal Serial Bus 5 2 49 9 2003 1Xs Research Corporation All right reserved IMCs05 Ver 0 9 3 2 ZH3 doub le 20cm ZH3 RC iMCs05 CN CN103 CN126 SerVo Motor H3 double 20cm IMCs05 CN
20. 1 Ver 0 9 E mail info ixs co jp 212 0055 4 17 14 230 0071 5 14 10 28 2003 1Xs Research Corporatnon All right reserved
21. 128 CN102 CN101 3 Ss lt 1 i lt 6 a a Cl 100 A 2 y CO A 4 er ee 9 a 2 CN127 CN103 126 SW100 2 2 iMCs05 1 B7B ZR CN100 5V re 3 mn leee 6 q S sm CT 4 FME Flashmrite enable Pull Dom ie sp 6 RST GND 0 B4B ZR CN101 5V 1 IVC 3 lmeo lemr so lo 4 GND 4 2003 1Xs Research Corporation All right reserved IMCs05 Ver 0 9 PO2B XASK 1 CN102 2 PPMR PPMR 6 lt 7V B3B ZR CN103 lt CN126 LNO 1 55 155 5wW Wt tWtW Sle 2 PPWR PPRN B10B ZR CN127 TS EC WT 1 17 0 WW
22. IMCs05 Ver 0 9 IXs Research COrD IMCsS05 Ver 0 9 1 2003 1Xs Research Corporation All right reserved IMCs05 Ver 0 9 MM0020 EEE i Ti 3 2 20 fP 4 NIMGCS05 MOM MN ka ii 4 MCS05 MG i l c 4 9 TINMCSOI ER DRM Nii 6 NMOSO SA cl i 6 TSS MOMMA Ni hii ks 7 2 6 SS01 5 RKN KKWK7I TTA 7 2 9 SS01 NO US 8 3 kk 9 SP CO Na as 9 SIN RO cid 9 ES CO ci 10 4 Humanoid Robot Controller kik 11 UN CN Gc ke 11 GELATO io 14 A A Nl kis 14 D2 MOE EN Ro 15 A 2 8 INK Parameter ii hi 17 a SeE MO Hi i 19 2 5 TREY BINAINE i 20 5 i 21 5 1 Link Parameter kk 21 5 1 1 kik 21 5 1 2 ui 22 5 2 Center Position i 22 SS OM UE CN 23 5 8 Oc 23 SN EON h i 24 5 3 3 i 24 SE EE OM Gi 25 SEE CO 25 SS EE LN i 25 SO ER a Cc hl 26 SC 26 DE hei che 27 Ss 8 KK KK N N NO IIOO AWC 2 5 8 2 Ke 27 2 2003 1Xs Research Corporation All rig
23. N II8 2003 Copyright Xs Rasearch Corporation z z z CW CCW Fix 21 2003 1Xs Research Corporatnon All right reserved IMCs05 Ver 0 9 5 1 2
24. er 1 5 9 11 2003 1Xs Research Corporatnon All right reserved IMCs05 Ver 0 9 Humanoid Robot Controller 21 21 7 to dll Humanoid Robot Controller Ef AA CMWWINNT system32 MSREPL35 DLL Microsoft Replication Library 351 3225 W 2003 1Xs Research Corporatnion All right reserved IMCs05 Ver 0 9
25. ht reserved IMCs05 Ver 0 9 1 24ch iMCs05 Web N gt he nf 3 2003 1Xs Research Corporation All right reserved IMCs05 Ver 0 9 2 2 1 iMCs05 CN
26. lssel EE TE EE TT ET EE TT ET oe Cn998 2003 Copyright Xs Research Corporation 3 Posture1 Front view SIde view Side view Side view 23 2003 1Xs Research Corporatnon All right reserved IMCs05 Ver 0 9 5 3 2 Motion 0 Motion Generator 1 Save center potr gtinn Eheratnr SPF EF EE ogah ai lOmmlssel so EE TT EE sl EI oe EE ET pC EI vo EE TT ET CS CH2 CH3 CH4 CH8 CH9 CH10 Posture2 Motion Generator 2 Save pos1 potr ntinn eneratnr SP EF 2 9 II or oo ET
27. rch Corporatnon All right reserved IMCs05 Ver 0 9 4 2 3 Link Parameter Link Parameter Link Parameter degree
28. s05 iMCs05 SW100 Pin1 ON Mode1 iMCs05 ON SW100 Pin1 OFF 26 2003 1Xs Research Corporatnon All right reserved IMCs05 Ver 0 9 Normal mode Key Binding 5 8 5 8 1 5 3 Motion x y z roll pitch yaw Rai hm Jee 3D ll mM Hgg gH8 il Yo Heg 5 8 2
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