木下ロボットアームⅡ
Contents
1. 2014 7 KRS 6003RHV 7 1 2 6 2HV 1 p 113 130 2010 2 RC 6 1 p 131 188 2010 3 MP2Editor MotionGenerator 2009 42. 2 6 1 25Mbps RCB 4HV Rcb4CommandGenerator Rcb4CommandGenerator 0 9 0O 120 2 GL900 Heart To Heart 4
3. RC 6003HV RCB 4HV Heart To Heart 4 114 3 6 8 1 8 1 3 2 HOOD HiHHHHHHHHHHHHHUHHHHLHHHHW HHHHHHHHHH 3 8 9 1 02 64 3 1 3 6 0 1 92 93 94 95 96 1 5mm Mg 2 2 2 8 3 4
4. 2 5kg 2014 1kg 15kg 30kg 1975 Google 2014 No 91 P10 P15 2013 HHHHHHHHHHHH 52014 P12 MOTOMAN BMDA3 SDA10 220kg
5. 1988 5 BME Vol 13 No 2 p 34 41 1999 6 Inoue Takahiro Mechanics and control of soft fingered manipulation Springer 2008 7 Birglen Lionel Under actuated robotic hands Springer 2008 8 Control theory of multi fingered hands a modehng Springer 2007 128 9 October 2009 Vol 27No 8 p 102 108 2009 10 84 p 47 56 2006 11 RC 6 85 p 33 44 2007 12 RC 6 85 p 45 52 2007 13
6. 9 2 120 90 GL900 0g 200g 300g 92 500g 0 4 9 4 60 5 Heart To Heart4 5 1 Heart To Heart4 5 1 Heart To Heart4 5 2 Heart To Heart4 5 1 Heart To Heart4 HOOD HiHHHHHHHHHHHHHUHHHHLHHHHW HHHHHHHHHH as as vr lea sr te ex eisy Te ns oe es YN 9 OE re det sndT st ormas a cens meinen cr pp ce mm FPP wa due TYP a te EE ron swe CE hawtnt SiP ers t te boriere wos sm re mee we sme EE 5 em es CE YK Ye ES ae om
7. 4 23 4 24 USB USB ID 4 21 is50 E15 8023 _ EE 150 15 al23 CC 4 22 Cr p EE 2 121 HHHHHHHHHHHH 52014 4 28 4 29 4 30 4 81 Wi500 06OGG80WW ea042500 0 0300 0000O850W bktditA00 44044500 0000050OW EE _ Time 4 feoH mm i rmm EE EE a FI 4 29 4 25 EE EU GL900 APS rol RAM H illIg 4 26
8. 1IC5 SITO ICE ID CMD OFh i a EE nt 4 9 ID h Hold 4 10 HHHHHHHHHHHH 52014 90 10167 _60 9278 90 4833 4 1 4 11 4 14 GL900 4 12 a 4 13 4 15 5V 4 11 String 5V RCB 4HV String 4 12 5V 4 16 GL900 String 07 OF 04 01 30 2B 76 RCB 4HV String 04 OF 06 19 4 4 GL900
9. 41 6 6 3 23 8 24 25 4 1 USB USB 4 2 RCB 4HV 4 1 USB 1 RCB 4HV 4 2 RCB 4HV TD 3 10 10V USB 10V 3 24 3 4 06 3 25
10. ROB 1 6 36 p 37 46 2008 14 RC AGB65 RSC 6 36 p 47 56 2008 15 RC AGB65 RSC 37 p 55 67 2009 16 6 37 p 69 85 2009 17 p 96 99 2002 18 mechanncal systems Control theory of non hnear a Dass1vty based and cnYcut theorenc approach Clarendon Press 1996 19 B amp W Bowers amp Wilkins 800 Series 2009 20
11. 5 3 5 4 F E V P W H N B lt O 12 Ctr S A1 P Ctrl N 5 4 125 Fr g V PD OXW H GSm Ao COM Coms 9 Sg 0 mn 9 lt Y 0 gt 3 foeitor free 4 Had 4 fes 9 Singie5ervo Comoare CMAD Cputtcn CmpP oO i CmpTmmr CmpValue
12. ompButton 3 CmpPIO PIO CmpTmr EE 5 8 HHHHHHHHHHHH 52014 4 5 EEE EE 5 9 Postcn MCTEE FFEE WTEmCN LWs Sit 5 10 5 10 5 11 9 9 5 12 100 5 11 D 0 ok Lewcel
13. Ack 2 gt la iCS Si1O 10 CMD 0Fh 1 Free Ho CMD OFh Free Hold String RCB 4HV String 4 6 47 COM COM4 COM9 COM 4 8 TD 1 25 Mbps 4 5 4 6 119 48 4 3 Rcb4CommandGenerator 83 1 4 9 9 ID TD 4 10 4 1
14. 5 38 16 PfvF PE usyGW 50O lt a F135 Bm222232P Il 8 17 RATE 1 25 Mbps TID WRTTE 83 16 8 183 COM COM9 ID 3 14 3 12 Serial Manager 116 HOOD HiHHHHHHHHHHHHHUHHHHLHHHHW HHHHHHHHHH 91 96 ID READI IL WRITEI 2 RR TE WTT 1152m 1 5n 0 115200 a Er NT ca 525000 mm 3 20 3 3 mm F 9 Da 3 17 3 21 CN
15. 4 30 2013 06 07 2013 09 05 2013 11 25 2013 11 26 4 27 2014 02 25 2014 02 26 2014 02 27 OD 428 1 1 4 31 4 25 GL900 4 26 4 27 122 HOOD HiHHHHHHHHHHHHHUHHHHLHHHHW HHHHHHHHHH wi 3 1 1 EE YY 4 32 4 37 4 31 4 383 4 34 4 35 4 32 4 36 4 37 4 6 GL900 0 4 33 iig ge A 090W0 060 000 0 ouedm 000096
16. GL900 417 8 120 HOOD HiHHHHHHHHHHHHHUHHHHLHHHHW HHHHHHHHHH 4 14 GL900 4 15 5V 3 5 4 16 8 3 3 GL900 3 4 17 4 5 Rcb4CommandGenerator GL900 4 14 GL900 4 15 5V 4 18 GL900APS 4 19 GL900 4 18 GL900APS 4 20 4 20 4 21 4 22
17. KRS 6003HV 270 67 0kgf cm 100 8g 7 2 0 6 6500g 3 2 3 3 8 5 8 86 Ilcml 1 87 Ikg 270lgl 83 4 KRS 6008HV 3 6 91 02 03 04 95 06 3 2 ID ID 3 7 USB 3 8 HHHHHHHHHHHH 52014 what number
18. 83 1 0106 ID 0 2 2 0 2 2 3 18 3 16 WRITE 3 19 MOVE MOVE 7500 3 20 3 21 TLD 8 22 OFF OH i OFF ET 3 18 50 le _ FREE gm Rh Fn al Ll 3 19 3 22 02 117 HHHHHHHHHHHH 52014 0 2
19. 5 19 127 HHHHHHHHHHHH 52014 6 5 20 5 21 Heart To Heart4 Ver2 01 3 4 5 RCB 4HV 12g 120
20. 60kg 18 348 3000 18 7 50 5 13 6 0 6
21. 606 ID 7500 4 2 Rcb4CommandGdenerator 4 3 Recb4CommandGenerator 4 4 3 25 96 906 4 Rcb4CommandGenerator 4 3 Rcb4Command Generator 118 HOOD HiHHHHHHHHHHHHHUHHHHLHHHHW HHHHHHHHHH 4 4 Recb4CommandGenerator 4 5 4 6 A KT W Wi k 5 F5 bb H Ctrl F5 X Ctri D E TH F11 D0 F10 G F9 1 4 5
22. 6 TI A Coordinated motion control system for new type flexible Shoulder Disarticulation Prosthesis SDP Kinoshita Robot Arm I l with 6 degrees of freedom Toshiharu KINOSHITA Hiroki TAKEUTL Kazuma HIRATA Abstract In this paper We propose a practical SDP using very high torque RC servo motor RCB 4HV 1s used with control circuit manufactured by Kondo Kagaku I can provide a simplified total system of a serial servo control method The flexible joint SDP have 6 degrees of freedom 91 shoulder rotation angle 02 shoulder flexion extension angle 03 humeral rotation angle 04 elbow flexion extension angle 05 wrist rotation angle 06 hand prehension angle Movement of the SDP was measured and potentiometers using the Rcb4CommandGenerator A practical flexible joint SDP Flexible joint Robot Arm 1 87Kg can make by new vibration control theory A Rise tme A Fall tme Settling tme and Steady state deviation using control engineering 1S possible to solve it from the fundamental GL900 s data Coordinated motion patterns are made by Heart to Heart 4 manufactured by Kondo Kagaku As a result Vibration of prehension part of flexible joint SDP is stopped by principle of conservation of energy Keywords Flexible joint Robot Arm Coordinated motio
23. 800g 92 120 4 2 4 41 A B 4 2 2 4 7 V 19 281 0633 s 0366 s 1063 s 2 407 s 4 3 1 87kg 1 6 kg 92 120 4 3 4 42 XX V 340 5 26V 4 43 4 44 5 00V 0 2 3 00V Oc 0 4 9 FE 6 00s 10 00s 14 00s 4 42 92 120 124
24. ITD 3 15 WRITE 8 16 20 0 3 9 USB 10VB TE WRITE 115207 lt READ 3 10 10V ID 3 7 USB lcog SC CE CIRC _ TE 3 8 3 9 RATE USB 3 10 10V 0 3 11 Serial Manager 83 12 a 14 ID WETTEI 2 RATE WRITE 1350000 gt READ nn READ NG eS s COMM MIOyE 500 8 15 ID WRITE what number gt D a RATE WRITE I 325 gt 127 REAW 8500 lt 220 gt Oo roN 6 135 127 lt CON O 28 q oN 128 lt gt 2GE 1500 lt
25. 4 p 109 120 2013 29 RCB 4HV 6 1 6kg 4 p 121 134 2013 30 2004 31 No 94 2014 129
26. Loop 5 5 5 5 5 6 5 7 5 8 Pos Wait 5 9 Group Position PoS SingleServo 4 Compare 56 OM Wait GrouD Advance 3 Wat a a 5 7 SyncH COM COM4 1 1 9 N Y UO Position Free Hold ala EE SingleServo Compare si CmpAD
27. 5 13 Wait Ff WaitDialog O000023CO000005004C 5 14 Wait 5 13 5 14 TO 1 N 3 Y Ea 5 15 HOOD HiHHHHHHHHHHHHHUHHHHLHHHHW HHHHHHHHHH 5 16 5 15 5 16 5 17 lt 4 4 5 19 5 17 5 3 Heart To Heart4 20 00s 30 00s 40 00s 5 21 5 18 5 18
28. BE odieqn 4 38 4 34 AA a LE B Se 4 35 GH GH 3 4nhh 2 3 1 d 1 gt gt se sz samx RW CH CH5 007 0 005 12400 se cr che 0005 0007 0002 cn cH7 reWe1 0902 r4 101 DT AAS TOD Sh EPI D D ER 0ewe00009 We0065600 We00 10699 Wedeeo We0020 meee35000 eo0039000 AT 95 NOD 39349 EL A 2 36 4 36 4 40 123 HHHHHHHHHHHH 52014 CH B AB ee oH 240m 2991 elv Hs cHs 097 0ms lv 0 kk GH7 CH7 091 0002 000 95 0905 rom00lV Pusel 0 9 OHRPM Puse2 0 RM Puses 0 RM 10 00s 14 00s 18 00s nT a8 82 nMOE01 229885 BB EEE TE BE 014 03 07 20 28 25 OOLMOEO5889349 4 41 0 02 2 1 652 EE EE 112 336 10 01652 4 44
29. FST B amp W Bowers amp Wilkins 683 684 Series 2009 21 1994 22 1983 IIHHH HHHHHHHHHHHHHUHHHHHHHHW HHHHHHHHHH 23 62 1987 24 6 20 2009 25 6 37 p 69 85 2009 26 for ICS3 0 V1 5 2009 27 Heart To Heart4 Ver2 1 018 28 6
30. a sxe ott PR crs 5 2 Heart To Heart4 5 2 Heart To Heart4 HeatToHean ES EE E V P W H N Cp Ctr S A Ctrl Shift S P Q 7 OO Propcts _ 2013 11 25 16 20 t _ Ni KA HIR4 htpy ms 4 _ h4p 2014 02 27 14 16 H4P Ni T HTH4 h4py 5 3
31. n pattern SDP 1 2013 12 29 1 Google 2014 Vol 38 No 1 P3 P9 DARPA s Prototype2 Bionic Hand 113
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