航空宇宙工学実験2 宇宙ロボットの姿勢制御実験
Contents
1. i2. 2 1 1 2 1 3 1 2 4
3. 1 2 2 1 Link 1 Link 2 Ms 1 2 2 1
4. gE b 4 1 gt
5. 0 OS OD ER
6. tImsl wldeg l x G y G tlsec Rxlpixel Rylpixell Gxlpixel Gylpixell Bx pixel By pixell 1 E 3 Mn 7 vm H FF
7. 0 1 Null offset 21
8. 2 PC WEB NEKOsystem 9 ZMP IMU Z2 IMU 2 2 1 NEKO IMU
9. 6 s Web 7 3 s 8 q 9 q 10 exp_NEKO result csv NEKO avi e Web
10. 9 oo n mP 6 amp 0 29 7 3 0 7 7 s 0 0 6 As7oid 97 Ao 9 di 31 7 ma 12 6 6 1 x e RR 7 h x t 0 ER 32 mm lt n x 32 m
11. 5 SSSJ CRS 03 028 SiVSG 100 deg secl 5 V 2 5V 2 5V 0 5V 2 5V 100 deg sec 1 V 40 deg sec 19 nterr et 906134 rer Access ThinkPad 4 IBM Windows Update 11 9 D H RI BUFFALO acrobat Rader 50 temet Explorer Outlook Express MWindows Media Player
12. Dynamically Dry Tuned Gyroscope DTG 18 mae O 10 RLG Ring Laser Gyro FOG Fiber Optic Gyro Gas rate Gyro
13. NN 6 2 dl d 0 34 sin zsing vycosd 0 35 35 35 oz o 6 3 g z span A z A z 91 2 7 2 36 Distribution Distribution Lie brack
14. oo A 1 2 3 E lt
15. 32 mm 7 7 32 h x 0 ERR 33 33 32 33 32
16. exp_NEKO exe 16 B TIMU IMU 9 2 z z Bluetooth 3 3 15 V 3 2 4 8 16 G 12 bit 3 250 500 2000 deg s 16 bit 3 0 88 8 1 gauss 12 bit Bluetooth Ver2 0 EDR Class1 CAN 1ms 3 msl 6 ms 20 g
17. Rate Gyro Rate Gyroscope CN RG ON RO 0
18. AcA ds As VxA dS 1 dS S V x A n 7 9 C 1 PPT USB 2 1 2 1 s
19. 1 null offset 2 1 2 3 1 2 3 4 5 6 lt 4 r m rx mr 2 1 2 mi As pi s ds 3 pg 8S g mig Ag pirids 4 G Pc nm Pe No Ags ri X pirids 5 i 1 EE AsirzX pirids As ri gi Eg XP i g 6
20. 1 1 IMU 2 IMU LED 3 PC Bluetooth IMU COM 4 IMU Z viewer 5 File gt PortSetting COM Add gt 6 3 OK 7 File gt Open 2 1 7 2 Log gt Format Setting Log file Node No 1 Data type Timestamp Gyroscope Z Compass X Compass Y OK
21. g do b di bd2 c 0 24 GS g 2 o 10 1 moma m2 mo nn 52 26051 cos m js 2 mo 1 2 m2 l21 cos 2 2molo1 721n m2 n gt cos 5 1 5 1 mili1 m2 m a n2 loil21 cos M 1 9 21 T 0 1 2 2751 COS mo i 2 15 moloi cos mili1 m2 1 2 c 2 5 malai1 l21 1 1 2 cos 2 Moloi cos 1 2 mi 51 12 cos 5 24 c 0 1 24 i 0 24 5
22. 24 loi1d1 762 5 25 7 b 82 2 a a 1 7 a c 1 5 a bi d2 1 25 0 t d 1 d gt A dodt Ar ma oz gi dt 26 AA 26 6 Aao od 76d 5 27 27 7o 9 7o 9 A 1
23. 2 to cw 3 1 gt student_experiment CCD 2 NEKOsystem 4 student_experiments x 5 6 Enter 2 OFF 2 3 1 2 4 Link1
24. 3 Log gt Start 4 Log gt Stop Eile gt Close 17 2 2 a http www sssj co jp sitemap index html MEMS Gyroscope Vibrating Structure Gyro 1
25. 4 38 2 Lie bracket 4 44 z T z 0 44 det 4 0 47 91 Z 92 nlz 92 z m z gz z ae lt span 91 2 92 2 8 nlz gz z span gi z ga z span gi z g2 z involutive z span gi z ga z involutive 15 A NEKO system NEKO system Neko robot Experiment tracKing a
26. 2 1 1 1 1980 1990 5 E H
27. Ps 60 amp tmoma zi 20 Gn 0 Gr 0 nr 9 moma z2 20 92 0 2 30 2 wo mama 2 Z1 G2 MW G2 Fi1 17 1 do ial Zi1 oi cos o 1 cos Yi or sin 0 isin 17 z 0 12 Z1 gt cos do 1 l21 cos 6 5 nsin 0 251sin 6 gt a doloi sin 0 ni sin 0 boloi cos amp ni cos EE EE 0 II 2 nssm 6 lai sin 0 1 5 5 2 9 scos 51 cos 0 gt 17 0
28. As ri gg xX pi ti gi ds gt Ez X ME 7 tl i 1 3 4 rm keos9 usin64 COS 0 lO sin As ri gi Xpil ti g amp ids Asl sm xpg 9 cos9 ds 8 0 0 0 As 0 as 9 pil 0 0 10 Li0 7 n 0 n Pg gt 0 gt Eg X NUE 11 1 JL 0 1 11 g r 47 7 n gt Eg X MiEi gt Y ro xX Mi 9 ro i 1 i 1 n Dr x mits re x Mic i 1 wo 12 ES y 0 13 b 4 i 15 11 3 P gt 0 gt mi riti tig M XY XY 16 3 0 1 2 Y Li Yi TM
29. d2 Ad oe 8 F 28 C A As d d 5 28 11 9
30. 3 477 37T 4rt 1 50 mn 4 sin 20 cos 4 2 5 50 47 37 4rt 4r 3T 477 1 20 sin 4 CO8 20 1 COS Sin 1 mo 2 280 kg mi 0 922 kg m2 0 493 kg iit 0 125 m 0 283 m i 0 017 m 0 270 m 52 0 030 ml Jo 0 03585 kgm2 7 0 00410 kgm2 7 0 00324 kgm2 3 1 Link2 3 477 3 477 gt 50 le Sin sin cos 20 4 50 4r 37 drt 47 37 477 2 20 COS 1 OS 20 20 sin 4 Sin 20 deg 100 80 60 40 0 5 10 15 20 25 30 35 40 45 50 t 4 5 20 10 5 3 6 7 3 A n
31. PL 2303 USB Serial Driver U 12 20 90 90 1 50 100 200 500 1k 2k Hz 2 Null offset 2 5V 3 Null offset 4
32. w z wlz T z 0 43 GR 7 _ 96 Z Oa z Oc z Oz Oz gt lt Oy Da w z 0 T z 0 h z c z 0 C 0 8zz sb A 0 ce 2 0 a 5 c 0 0 det 4 2 T z 44 14 4 z ga z c 91 Z 0 0 ga z c 5 gi z gz z 38 g z b z clz 5 0 C 0 alz 69 c aa az Da a 0 lt 0 g 5 gm z gz z a z bl z clz 4 g Z gz z Lie bracket Qc c 2 1 Oc Qc na pla n 0 46
33. et gi 2 9 x 6 span A 2 Vi 5 37 involutive 9 z 13 Frobenius Distribution span xz H involutive 6 4 alz dzi 0b z dz2 c z dzs 0 38 0 wlz alz dz1 Z 0 Z dzs Z e Z dzs 0 39 __0oh z _ oh z _ Z wlz alz a w z b z Fr w z clz 9z 40 w z h z 39 dh z 0 A z Z C w z z d wb dA wa Alwc A wb Ol wa A wc 41 Oz Oz gt 1 Oz gt a OzZ3 OZ3 Oz dw z Oz 2 3 8 ole 3 V3 OZ2 2 ts we Ww c z ag c z a z 0 z
34. nd Operation system BlueTooth IMU 1 1 PC Web IMU PC IMU BlueTooh 2 exp_NEKO 3 IMU IMU 2 1 exp_NEKO exe 9 2 4 2 3 5 C COM COM1 o qd
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