手先拘束下でのマニピュレーション 手先拘束下での - OpenRTM-aist
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1. q_cur_in q_cur_out q_cur_in q_ref in FT in FT_out FT_in torque factor_d double factor_p double gain_d 06 double gain_p_0 6 double torque_limmiter double 3 32. 3 4 1 Qc a 1 Th 4 in out 3 4 Dos dat
3. 2011 3 30 2009 12 14 2010 05 18 5 2010 05 31 2011 03 30 0penRTM1 0 NBS0E0SHRBSKSRIRSR0ENSPIS8208ORHSRRRRRRRESRSIESE 2 Nb 3 BO CS SER 4 2 aucuastastssestastesestestesesetstastaeeetaataeeaa 5 NER 5 OO 5 SET SIE 6 0 6 3 2 PD i 7 5 1 8 3 ET RR SS 8 a a 8 EARN NNN oe 9 00000000080805060800Co06080COHB6S2CANSHS2URC8ac20288 9 NA TE 12 5 00sons Seasonwasees 13 1 RT s e
4. ou i 0 x k 1 Xd k 03 xyzrpy_in 2 3 RT System Editor Name Ser 2 Repositor System Diagram 82 amp lv x 127 00 1 ArmMovingModuleControler R ArmMovingModuleController ArmMovingPIDPA10Module0 rt ArmMovingPIDPA10ModuleCon ArmMovingPIDPA10ModuleCon T PSR Bai Sp CollisionDetectorFactory IrmMoingPIDPA10Module0 DynamicsSimulatorFactory SenarioExecutiveMddule0 EventChannelFactory ForcePosHybridOlrtc ModelLoaderl A OnineViewer RedundancyMinimizeNorm0 PortSplitterOlrtc 3 RedundancyMinimizeNorm0lrtc 2 SenarioExecutiveModuleOlrtc ForcePosHybrid0 ViewSimulatorl 1 yv Sy 88
5. 50N GrxUI 50N 1 GrxUI work make setup work hybrid demo xml GrxUI 4 GrxUI Start Simulation 50N
6. 50N 4 GrxUI 50N 13 FE E N A P GrxUl R W H F3Y Q Y Y v Yo y 6 RT Syste RTC Build Java _ NM a a ph 6304 FPS 50 4 8 8 8 hybrid demo v Simulation localhost 2809 simulationltem Y Model y NS_URL 1 1 n l
7. x k 1 xd k x k F Fd S x y z roll pitch yaw 1 0 2 2 At double Bd_0 5 double Kd _0 5 double Kf 0 5 double 3 OpenHRP3 GrxUI 3 1
8. e 1 X xyzrpy_in OutPort 1 Vol 64 No 4 pp 552 556 1998 2 2 1
9. Xdk Fd S pos dat 1 3 E tab xyzrpy 6 6 6 xyzrpy_in xd k Fd a 8 4 4 1 e Ubuntu 10 04 Desktop Edition http www ubumntu com e OpenRTM aist 1 0 0 RELEASE http www openrtm org openrtm node 849 es OpenRTM aist Python 1 0 0 RELEASE http www openrtm org openrtm node 932 e rts
10. RTC Build Java Configur Manager Composit Executio 8 RTLogV i 1 1 component Execution Contex rate Name Value 3 3 2 PD E E E q_cur_in q ref in PD HH
11. al com ubuntu lucid partner sudo apt get update sudo apt get install openhrp3 1 sudo update alternatives config java Jjava 6 sun wget httb www openrtp jp openhrp3 download eclipse342_hrpdependencies_linux_ja_2010 0602 tar gz tar xvfz eclipse342_hrpdependencies_linux_ja_20100602 tar gz mv eclipse eclipse342_hrpdependencies_linux_ja_20100602 vi eclipse342_hrpdependencies_linux_ja_20100602 eclipse ini eclipse ini org 2011 03 02 18 08 42 275122261 0900 eclipse ini 2011 03 02 18 08 50 792122115 0900 7 5 7 5 launcher XXMaxPermSize 256m vmargs Xms64m Xmx512m Xms256m Xmx1024m cp usr share 0penHRP 3 1 java plugins jar eclipse342 hrpdependencies_linux_ja_20100602 plugins sudo mv eclipse342 hrpdependencies_linux_ja_20100602 usr local cd mkdir bin 10 vi bin eclipse sh bin sh export GDK_NATIVE_WINDOWS 1 usr local eclipse342 hrpdependencies_linux_ja_20100602 eclipse vmargs Dorg eclipse swt browser XULRunner Path usr lib xulrunner 1 9 2 13 xulrunner clean bin eclipse sh Eclipse OpenHRP3 1 0 Release pkg config Ope
12. hell http www openrtm org openrtm ja node 869 e OpenHRP3 Ver 3 1 0 Release http www openrtpJp openhrp37jp e Ruby 1 8 7 http ruby lang org7ja e log4cxx http 1ogging apache org7log4cxx Ubuntu 10 04 Desktop Edition apt get update amp apt get dist upgrade 7 T Oo OpenRTM wget http openrtp jp openrtm svn 0penRTM aist trunk 0penRTM aist build pkg_install1 00_ubuntu sh sudo sh pkg_install100_ubuntu sh wget http www openrtm org pub 0penRTM aist python install_scripts pkg_install_pytho n_ubuntu sh sudo sh pkg_install_python_ubuntu sh wget http www openrtm org pub 0penRTM aist tools 1 0 0 rtctree 3 0 0 tar gz tar xvfz rtctree 3 0 0 tar gz cd rtctree 3 0 0 sudo python setup py install cd wget http www openrtm org pub 0penRTM aist tools 1 0 0 rtsprofile 2 0 0 tar gz tar xvfz rtsprofile 2 0 0 tar gz cd rtsprofile 2 0 0 sudo python setup py install cd wget http www openrtm org pub 0penRTM aist tools 1 0 0 rtshell 3 0 0 tar gz tar xvfz rtshell 3 0 0 tar gz cd rtshell 3 0 0 sudo python setup py install cd OpenHRP3 Ver 8 1 0 Release 3 7 T Oo sudo vi etc apt source list deb http archive canonic
13. nHRP3 7usr lib pkgconfig openhrp3 1 pc prefix usr local prefix usr 7 T Oo Ruby log4cxx sudo apt get install ruby ruby dev sudo apt get install Iiblog4cxx10 liblog4cxx10 dev 11 4 2 tar gz make 7 72 work cd mv force_pos_hybrid_module 2012227 work cd work ls Makefile PA10_owa 20129299 tar gz hybrid demo xml README txt port_splitter 20110329 tar gz make extract tar gz make 12 5
14. t 100 5 65 75 85 96 06 16 26 36 46 sec ks cr IN 5 65 75 85 96 06 16 26 36 4 gt H 1 0 5 200 0 2 4 GrxUI work make shutdown 14
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