SDP，ロボットアーム 1.45kg
Contents
1. L 6 DUET 1 2 25 LP 100F C 2 ZMP e nuvo IMU Z 2 2 1 1692. 2 EB as 1 FOREN X2 RC KRS 6003HV 11 1V 67kg cm 100g KRS 2552HV 11 1V 14kg cm 41 5g 1 X 2 JOE 2 MP2 RC
3. Re amp
4. 25 GL900 XY X Y XY 50 20 180 1 93 a Tm oa z 0 LE 4x lt t lt E 26 GL900 XY 174 HHHHH HHHHHHHHHHHHHHHHHHHHHHHIBDPHHHHLIHHH 145kdTHHHHHHHHHHHHHHHHHHHHHHHHHHH XX Y XY
5. 2 7 IMUZ ZMP e nuvo IMU Z 2 35 IMU Z 17 HHHHHHHHHHHH 22011 4 TIMU Z BE XYZ 3 9 10msec xd 37CAN USB 36 IMU Z 9 1 1 37 IMU Z 2 7 1 4cm X bem AOF E STMicroelectronics 3 LIS331 DHL
6. GL900 HHHHH HHHHHHHHHHHHHHHHHHHHHHHIBDPHHHHLIHHH 145kdTHHHHHHHHHHHHHHHHHHHHHHHHHHH x 34 38
7. LP 100F C 172 13 14 10020 fJ LP 100F P LP 100F C 22 23 0 3 492 CP 2FB x 15 HHHHH HHHHHHHHHHHHHIHHHHHHHHHHIBDPHHHHLIHHH 145kdgTHHHHHHHHHHHHHHHHHHHHHHHHHHH ice x3 CP 2FB F Fe AY T C npe ORL E5 EL T ug En m a 16 17 25 18 ATAT TEY 173 19 2 5 1
8. 9i 9 2 1450g 4 3 4 B amp W FST TASA GT VAG HHHHH HHHHHHHHHHHHHHHHHHHHHHHISDPHHHHIHHH 145kdTHHHHHHHHHHHHHHHHHHHHHHHHHHH 1 100g 67 kg cm KRS 6003HV
9. De GR Io Cm tt o Selected IMU 7 Port Lewce GANUSB COMI 48 Port Setting 49 3DViwer Model Draw Application 2 7 4 50 IMU Z ZMP IMU Z js Model Draw Application 3DViewer 181 HHHHHHHHHHHH 22011 50 IMU Z ments avidemux 2 5 4 win32 avidemux2 exe C Documents and Settings My Documents ojos3_3 ojos exe AVIDEMU X2 C XDocuments and Settings My Docu 3 182 HHHHH HHHHHHHHHHHHHIHHHHHHHHHHIBDPHHHHLIHHH 145kdgTHHHHHHHHHHHHHHHHHHHHHHHHHHH 3 1 2 5
10. 0s 0e KD 0 KqO K 0 CG d I 1 8 G d i 2 6 C d i 3 amp G d i 4 amp Q QG d i 1 i 2 i 3 i 4 MAOR T 0 s 06 HRE 0 1 02 RKD 2 3 170 6 8ch GL900 6 8ch GL900 GL900 2chXY 232x150 1x80mm 8 1ch 4ch 4ch 4ch 10BASE T 100BASE TX USB TEES PC RAM 100 256MB USB
11. 28 1 28 IMU Z Honeywell 3 HMC5843 Bluetooth 12 v RO A D USB STMicroelectronics 2 LPR55 0ALLPY550AL fO O o e
12. 27 27 2 6 IRCB 4HV HeartYToHeart4 DM 830MV SIO AD Q NSX B COM Ee oce B3 FiO 28 RCB 4HV 175 Ix 29 DM 330MV 35X45 X12mm 11 8g 6 15V 5V CPU M16C26A CLOCK 20MHz SIO 8
13. m PH COLTBPEIELHEBRCRE ROG I LIBI Bluetooth LPR550AL XY ii LPY550AL Z CAN USB TOf essec s T0 sec 10 msed lz BJ E MI 49 mm x52 5 mm x20 5 mm 35lgl 10lg 2 7 2 c E IMU Z X4 IMU Z 2 3D Viewer 178 HHHHH HHHHHHHHHHHHHHHHHHHHHHHIBDPHHHHLIHHH 145kdgTHHHHHHHHHHHHHHHHHHHHHHHHHHH Eke Edit Tool Estimator 1 x 38 3D Viewer 1 IMU Z 3D Model Draw Application aJ IMU Z Model Dra crm File Tool Edit Calibration About x 39 Model Draw Application
14. HIMU Z 6 2 LM 2900N ZMP IMU Z 2 2 5 O S E HHHHHHHHHHHH 22011 05 0e 5
15. 6 SDP 1 45kg 2 fum AR Eua gun SEXUS CBE EU Development of 2 degrees of freedom shoulder motion sensor for energy saving model flexible joint shoulder disarticulation prosthesis SDP robot arm 1 45kg with 6 degrees of freedom using Face Direction Control system Toshiharu KINOSHITA Kenji OHIGASHI Shota YAMAGUCHI Masaki ANDO and Yusuke KAGAWA Abstract A practical control system was proposed by us and was called the Face Direction Control System FDCS The hand part of the prosthesis is controlled to be always restricted on the imaginary eyes existing behind the real eyes The Shoulder Motion Transducer is fixed to the body and the point P is attached to the shoulder Forward and backward motion of the shoulder62 or 64 is converted to the rotation of the potentiometer P1 through the horizontal displacement of the point P Consequently two dimensional shoulder motion is converted into two voltages of P1 and P2 potentiometers Motion sensor of IMU Z ZMP Co is able to actually use as detections sensor The sensor using Potentiometers LP 100F C durability Midori Precisions Co Ltd 1s made It 1s confirmed to be able to detect the movement of the sensor by the voltage change of GL900 Next the sensor and the SD
16. ZMP dy 5 D 2 6 2HV 1 p 113 1 30 2010 2 RC 6 1 5 p 130 138 2010 3 6 2 20 2009 4 6 2 21
17. o RJ ZA YY a c 2 DRE x 21 5mm 00 180 10 cm 180 360 HHHHHHHHHHHH 22011 2 5 9 lem 3 3 1 1 24 IB SE fcm XY x 22
18. COM3 or COM4 C XProgramFilesYHeartToHeartAX Heart ToHeart4 exe COM3 or COM4 c A siu dup Bie winie seme cag us dud tw I LI EL 1 HI LE J wu N an im ta El cas Try marg aA ra i SE EE Bt Te LI zz L LN m j Birs CETFT Gra ar a Ei pi i E a WT E a Ft c ru Lem a AUR Usa zw 1 3 1 x 30 Heart ToHeartA TOP ji eart loHea EH COM3 or COMA Jut B PPU N Dom Fam acram w 21 54 f Sas COMBMISER czSom wi ICSDER us v O duo e iMH 0 weh mu ave ez le s a e RET DERG a Pa ETE A cx xa 4 Mi A wi e uw 0
19. N Bluetooth Or USB C Heart to Heart 4 IMU Z 51 IMU Z 3 3g USB IMU Z lite USB IMU Z IMU Z lite USB Ci 0 USB USB
20. TEES lOous MAX RAM 10 20 50 100 200 500ys 1 2 5 10 20 50 100 200 o00ms 1 2 5 10 20 30sec GL900 1 2 4 HHHHH HHHHHHHHHHHHHHHHHHHHHHHIBDPHHHHIHHH 145kdTHHHHHHHHHHHHHHHHHHHHHHHHHHH yam 2 4 1 A D 7 EERI 8 7 8
21. RCB 4HV 6 RC KRS 6003HV 2 2 K Ks Ks Cias da5 MOVE 51 HHHHHHHHHHHH 22012 4 BE ZMP
22. LM2900 7 RC Bi 10 LM2900 0V 32V 16V C 40 85C LM2900 0 70 LM3900 LIM2900 2 4 2 0 5V 10Hz GL900 10Hz GL900 GL900
23. HHHHHHHHHHHH 22011 11 GL900 GL900 GL900 n e secs gut KGNMMTCHERCOHN CTI a ET IET z nA A OEI FR LUE G NR KEA RIE LET A NAISED TER EAIA D IEAA IT ARTA DNW DENI MAEN DHS MO mA MDA IDIDO GeD MA MONT A Toe mar T Tina des Baca pu p mm SAn o L3 dac 11 CE 3 v 12 12 2 5
24. 7 7 500g RC RC 3 d oua 19 21409 9 9 9 4 51 D IDL2 3 4 TID1 2 8 168 9 p96 99 2002 6
25. 19883 5 RC 6 22 X 2011 6 PRECISION POTENTIOM ETERS 2009 7 LM2900 LM3900 8 GL900 2009 9 Heart to Heart4 for User s Manual 2010 10 ZMP IMU Z Manual 2010 184
26. IMU Z IMU Z 1 IMU Z 057 FID 11 Node 1 J Node 2 Node 3 Node 4 Node 5 Node 6 Node 7 Node 8 i Node 9 Node 10 Fii Node 11 SDK SmpleCommumcationSample IMU Z ImuzSingleCommunicationSample agl IMU z Single Gommunication App File Tool 1 Bccelerometer Accelerometer B Xs B Ya3 B Zs 2 Acceleration d 34 36 Time msec 10 3 CE cow Eq 41 Bluetooth IMU Z ImuzMultiCommunicationSample Bd cce CommMonitorDialog X Accelero B3 T Bl o ov ES IMU Z Multi Communication App File Tool 1 Bluetooth Bluetooth Acceleration g
27. IMU Z 179 HHHHHHHHHHHH 2201 FilterSample sh p T o 9 E amp i E GraphicDrawSample ose A J 44 ImuzDraw 3D LMU Z PoseEstimatorSample HE PoseEstimatorSample amp pp File Edit Tool 1 CEB ov Bluetooth 45 4 PoseEstimatory 3 2 7 3 PC IMU Z PC D 87 AC USBCAN PC 2 IMU Z Node Model Draw Applicat ion Role IMU Z ON LED
28. RC 2 009 BMT BML BMO vol 26 No 7 p14 p15 20 08 2040 SEA
29. 3 C XProgram FilesYZMPXIMU Z Applica tion and SDKYXImuzConfigurationTool exe Tie Open ILawicel CANUSBI Target Node No IAlll Get Status IMU Z X Target Node No Node No Role USB Node No 8 Role CAN 8Slave ISavel IMU Z File Help Target Node No w 1 28 or All v Bluetooth CAN O ET Con emi 46 HHHHH HHHHHHHHHHHHHHHHHHHHHHHIBDPHHHHLIHHH 145kdgTHHHHHHHHHHHHHHHHHHHHHHHHHHH Em IMU Z Configuration Tool 6 v 1 28 or All msec 93 CAN Slavel v rofile v JEKDDO zx m o 3 3 O Cx Status Device ModeNo Role Batteryle Period RangeAcc RangeGyr RangeCo MessageForm OAN SL 504 v 10 ms 21e 500 dee 10 Ga Text m 47 68 X CAN Slave SingleBT CAN MasterBT 00 CAN 8lave CAN US
30. 00 IMU Z 3 2 2 0 10cm 0 5V 0 360 0 5V 0 8cm 0 90 0 3em 0 5V 0 90 0 5V
31. 57 u sa e w KP w 807 a i Epa E EE Ns sma oo gt OA 00 0 00 00 0 2 00 2 Sa IL D sqG gt 6A 00 20 00 00 10 26 00 2 2 m CODING HTTTTTTT Wi Mouse pel 176 X831 TD Syne MIX1 AD Syne RAM ROM B o 2 6 1 32 32 HeartToHeart4
32. B SingleBT Bluetooth CAN MasterBT Bluetooth CAN PC IMU Z IMU Z HA 3DViwer Model Draw Application IMU Z C Program Files ZMP IMU Z Application and SDKXImuz3DViewer exe File Port Setting ADD 2 Hile Open Ed 49 3D Edit Clear Graph Edit Pause Graph Tool IMU Z Manager Tool Communication Monitor Estimator Begin Calibration Estimator Save Cal Data
33. P robot arm are connected by RCB 4HV KONDO KAGAKU CoJ and the SDP robot arm which is operated by the shoulder movement of two degree of freedom Moreover the movement of the shoulder can be detected by installing IMU Z Keywords flexible Joint prosthesis SDB robot arm 1 45kg the Face Direction Control System Motion sensor of IMU Z 1 18 348 1 1 3000 18 7 50 5 M 13 6 TCI O N UU 167 HHHHHHHHHHHH 22011 FOB
34. X AD 10 5V 5msec PIO 10 5V EEPROM 256KB COM 8 115200 625k 1 25Mbps SW 1 LED 2 1 RESET 1 TP 1 1A 500mA Vee GND DM 330MV DC5 15V 32A OUTPUT COM PC AD AD1 AD2 SIO SIO1 SIO5 1 AE PIO 0V LOW 5V HIGH LED D o HHHHHHHHHHHH 22011 2 6 1 HeartToHeart4 HeartToHeart4 ioa du A A E D CXProgramFilesXHeartToHeart4XHeart ToHeart4 exe
Download Pdf Manuals
Related Search