高トルクなRCサーボモータを用いたエネルギー変換効率の 良い柔軟関節
Contents
1. 27 9 9 9 9 6 0i2. 2sec 0 NONOSNZDSC 152 5sec 10sec 15sec 20sec 25sec 30sec 22 0 120 460V gt 4 54V gt 450V gt 445VT gt ei ee xe a 1 ee 5 8sec 10sec 12sec 14sec 16sec 23 2 700V 23sec 24 25sec 27sec 29sec 31sec HHHHH HHHHHRCHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH GDPHHHHHHHH145kgHHHHHHHHHHH 5 2 5 2 1
3. 8 9s 0s 148 9 9 10 9 11 9 5 12 9 9 KRS 6003HV RC 0 e KRS 2552HV RC HHHHH HHHHHRCHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH GDPHHHHHHHH145kgHHHHHHHHHHH 2 3
4. 5 5 1 300g 5 1 1 9s 80 0 90 9s 0 120 22 24 300g GL900 300g
5. 0 4 94 0 9 1 5mm UP HHHHHHHHHHHH 22011 500g 1 2mm 0
6. 500g 3 2 3 2 1 16 MP2HV MP2 6 7 RC RO CNR EP PC 7 RC 2009 MP2HV 2008 MP2 RCB 4HV Ver1 8
7. 46 45 9 01 45 46 6 3 2 9s 47 0 90 932 0 120 500g 120 1 000V 0 220V 5SeC 47 10sec 15sec 20sec 25sec 0 90 9s 0 120 500g 120 48 161 95 0 500g WNWWWB 2 2011 49 48 120 0 49 0 47 9 i 90
8. 9 9 1 ZMP 6 SDP 1 45kg 2 91 0s 0 MO MP EO R IMU Z 7 KRS 6003HV 67kg cm 9 5 2
9. 9 9 127 60 120 10ser 20sec 30sec 405sec 29 120 5 2 GL900 USB 6 1 0 1 0 9
10. 9 1 2 6 2HV 1 p 113 130 2010 RC 6 1 p 131 138 2010 MP2Editor MotionGenerat or 2009 19883 BME Vol 18No 2 p 34 41 1999 Inoue Takahiro Mechanncs and control of soft 2 3 4 5 6 fingered manipulation Springer 2008 IIHHHH HHHHHRCHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH GDPHHHHHHHH145kgHHHHHHHHHHH 7 Birglen Lionel Under actuated robotic hands Sprmger 2008 Control th
11. 183 RC 6008HV 14 RC 2552HV 149 18 KRS 6003HV RC 2009 9i gt 9sa 5 6 67kg cm 1385 270 14 KRS 2552HV RC 185 270 0 15 25cm HHHHHHHHHHHH 22011
12. RC 6 0 8mm 1 2mm 130 9j 02 GL900 RC 1 5mm RC 0 270 AD 18 213 8000 6
13. 6 2 2 9 2 p 000 4 500 4 000 DUU 3 U0U 2 5O0O 2 00U 1 bOD 1 000 p0U 0 00MU SBC 42 sec 43 2 0 400g 500g 35 6 3 159 0 2 80 93 09 40 8 1 9 92 80 9 3 30 9 4 90 1 9 0 2 0 500g
14. 90 8 JBL3 ORTD ZMP
15. MP29 M16 AT 6 5msec D2929 3 6 3 1 6 9 0 14 HHHHHHHHHHHH 22011 7 6 6 7 9 6 2 9 12 5 1mm
16. BME Vol 13 No 2 p 34 41 1999 10 16 1 2 6 9 Sen V
17. MP2Editor 17 13bit 97500 0 4000 135 4000 135 8000 2 5 889 30 8852 130 HHHHH HHHHHRCHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH GDPHHHHHHHH145kgHHHHHHHHHHH I Mat lim mm Wn TE a RN td MR Ga nir he eat S hi Fa kc maT rmemstB vm Fm Fn NE 96 17 3 2 3
18. 500g 909 KRS 2552HV 0 800g 9e KRS 4034H V 41 7kg cm 11 1V 61 2g 29 120 MAX127 0 60 164 6
19. 2 1 2 HHHHH HHUHHRCHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH GDPHHHHHHHH145kgHHHHHHHHHHH 2 2009 3 2229 EC 2 2007 RC RCB 1 7 800g 3 9 5
20. 9 1 0 90 0 0 120 GL900 10g sec 16bit 0 120 0 s 50 50 9 s 0 130 0 120 90 135 135 9s 14kg cm 135 135 9 1 5mm 29 9 9 2
21. MP2 Ver1 2 10 MP2 2 RC 16 16 9 ID1 2 3 4 TD1 2 3 9 3 2 2 RC 5 Ge 9 2NV
22. 0265V i i a NY EE ET EE a Et eS PE CS FY 40 296 1 O O 0 amp 1 0 gt BO 1 0 120 gt 1 4O amp 2 120 1 O 3O BO 12O 1 O 5O BO amp 1 1 O 5O 4 90 amp 12O 41 0 29 0 500g 29 5 120 300g 0 1 9 500g 2 38 1 158 HHHHH HHHHHRCHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH GDPHHHHHHHH145kgHHHHHHHHHHH 41 9
23. 0 9 0 1 30 0 90 9020120 120 31 9 4 EN EC CE 15sec 20sec 25sec 30sec 35sec 30 04 90 9 2 0 120 0 120 154 HHHHH HHHHHRCHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH GDPHHHHHHHH145kgHHHHHHHHHHH EE EE TIT TTI IDITDDDDDIIDINIIN 1 69V WW WWWTfWWW 8 HHTT ITTH Ph HH 0 39V NI NN t i i 756C 8 3Esec 0 1 0 9 31 H sac 81 0 93 0 94 0 92 0r 120 0 9 120 120 891 40 83 0 94 0 92 0 1207 B1
24. 163 8B 9 9 1 9 2 B 3 B 1 B 7 0 zr 0 500g 6 3 5 9 9 2 9 94 9 GL900 16 10sec 2 9 HHHHHHHHHHHH 22011 0 9 i 9 2 3
25. 45 0 4 90 0 2 0 120 0 500g 11 9 5 1 5 32 6090 0 0 120 0 5 0 7 9 156 0 9 0 1 B1 0 838 0 84 0 82 0 1207 Er 94 90 092 0 120 120 B1 40 88 0 64 0 92 0 120 91 0 05 30 04 90 02 0 1207 e961 0 03 50 04 90 92 0 120 91 0 05 50 094 90 92 0 120 0 83 0 94 0 81 0 90 2 80 88 30 94 90 91 0 B0 0 500g 80 35 9
26. 0 9i 80 2 6 2 2 6 2 1 9 2 HHHHH HHUHHRCHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH GDPHHHHHHHH145kgHHHHHHHHHHH setthmg time 2 5 36 0 4 90 93 0 120 300g 37 RIEEESM HI il 1 a
27. 18 CP 2FB b 19 CP 2FB 5V 340 5V 19 2 151 4 4 1 2 20 19 9 9
28. RC 6 SDP 1 45kg A coordinated motion control system for energy saving model flexible joint shoulder disarticulation Drosthesis SDP robot arm 1 4Skg with 6degrees of freedom using high torque RC servo motors Toshiharu KINOSHITA Shota YAMAGUCHI Masaki ANDO Yusuke KAGTAWA and Kenji OHIGASHI Abstract In this paper I propose a quite high torque practical SDP robot arm usmg new RC servo motor By using Motion Processor 2 MP2 control circuit KONDO KAGAKU Co I can provide a simplified total system of a complhance control method The flexible joint SDP robot arm have 6 degrees of freedom 0 shoulder rotation angle shoulder flexion extenslon angle 9 humeral rotaton angle 04 elbow flexion extension angle 0 wrist rotation angle 0 hand prehension angle I used SDP robot arm movement control program using script language KONDO KAGAKU Co A practcal flexible joint SDP flexible jont robot arm 1 45Kg can make by new vibraton control theory Flexible Jomt Robot Arm Control Kinoshita theory was proposed by us and was called FJRACK theory which js look like FST Fixed Suspension Transducer of B amp W Co A nse time a fll time settli
29. AGB65 RSC 37 p 55 67 2009 6 387 p69 85 2009 17 p96 99 2002 18 Control theory of non linear mechan ical systems Clarendon Press a passivity bas 8 9 4 13 14 4 15 16 4 ed and circuit theoretic approach Clarendon Press 1996 19 B amp W Bowers amp Wilkins 800 Series 2009 20 FST B amp WCBowers amp Wilkins 683 684 Series 2009 21 165 1994 22 1983 23 62
30. i UU 5sec 10sec 15sec 20sec 25sec 36 6 4 90 9 0 120 300g 120 L_ mv Lnr EE 5 Ei EE EE re Ju ha NE i A ct 9 1 Fi i 1 1 Mi EE 1 862V Ksec 1 D 120 9 4 BO 120 120 i 1 0 F120 g 1 I 4 120F 1 POL BD 120 1 n 5 BD 12 38 9 206 0 500g 157 HHHHHHHHHHHH 22011 39 9 90 9 20 120 500g 40 nr hr a Eg 5 mi ut 1 847V 1 1 1 000V 0 220V E Hi 5seC 10sec 15sec 20sec 25sec 39 04 90 9s 0 120 500gC 120 0313V 1
31. 7 1 CT 162 IIHHHH HHHHHRCHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH GDPHHHHHHHH145kgHHHHHHHHHHH 50 0 90 51 9 6 3 4 9 9 9 4 0 1 BI 9 2 BU 9 9 3U 9 4 90 9 1 g 52 0 0 500g a 53 52 0 90 53 0 9 9
32. 3 6 8 2929 0 11 x 1cm 13mm 4 0 15X 1 5cm 0 19 a 1 5cm 12mm 1mm 19 20 173 3cm 173cm 32 87cm 25 95cm 19 03cm RC 5
33. 1987 24 6 2010 25 MP2Editor MotionGenera tor 26 6 20 2009 27 6 37 p 69 85 2009 28 RC AGB65 RSC 37 p 55 67 2009 29 for ICS3 0 V1 5 2009 30 e nuvo IMU Z 9 ZMP 010 31 38cmy 3Way Studio Monitor MODEL4365 http7 www ha
34. 500g 120 9 5 500g 1 0 3 0 8 4 0 2 0 120 gE 4 g0 2 0 120 lt 120 gt 1 40 amp 4 0 amp 2 120 1 0 8 3 30 8 B0 amp 2 0 120 rg 1 0 83 50 8 B0 amp 2 0 120 eg 1 O 5O 4 90 2 0 120 0 Gz 0 500g 41 2 4 5 6 0 6 3 3 91 6 2 80 9 3 0 8 4 0 9 1 90 2 8 1 B 50 01 0 500g 1
35. 2 Or 120 120 1 40 8 3 0 8 4 0 2 0 120 8 1 0 83 30 8 490 2 0 120 g 1 0 83 50 8 4 90 8 2 0 120 eg 1 0 8 3 50 8 4 90 2 0 120 881 0 83 0 8 40 2 0 120 44490 8 2 0120 120 81 40 8 3 0 8 4 0 8 2 0 120 81 0 83 30 8 90 8 2 0 120 81 0 8 350 9 490 8 2 0 120 81 0 8 3 50 8 4 90 8 2 0 120 46 01 CZ 0 500g 160 HHHHH HHHHHRCHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH GDPHHHHHHHH145kgHHHHHHHHHHH 45 9 0 120 0 500g 45 91 45 80 90 2 6 500g 50 2
36. GL900 16 216 9 0 100 1 9 0 9 91 0 9 HHHHHHHHHHHH 22011 1 2 2 2 2 21 GL900 2
37. 02 80 9 0 90 3 00V i 2 078V 10sec 15sec 20sec 25sec 30sec 25 0 90 10sec 15sec 20sec 25sec 305e 35sec 26 9 1 0 LOL ei DAD ng LM 9seC 11sec 13sec 15sec 17sec 27 153 2500V 3 7450V gt 2 408V gt VVV FA 2350V gt 24sec 26sec 28sec 30sec 32sec 28 25 0 26
38. 0 838 30 84 90 92 0 120 B1 0 883 50 B4 0 82 0 120 81 0 88 50 84 90 92 1207 62 80 93 0 94 0 81 0 907 92 80 83 30 84 90 81 0 90 32 0 500g 33 9 90 0 0 120 100g 34 1 828V HH 10sec 15sec 20sec 25sec 33 04 90 93 0 120 100g 120 155 HHHHHHHHHHHH 22011 22 82sec 23 23sec 84 H 1Ksac 35 32 9 2 9 0 500g 9 s PWM Pulse Width Modulation NN AE NEO COCO 2 255 128
39. 92 B amp W FST 20 w 1 B amp W FST 9 1 0 2007 9i 9 2 1024g 1 2 1 2HV 24g RCB 1 MP2HV9 KRS 6003
40. 92 80 9 3 0 940 91 O gt 90 92 80 93 30 9 4 90 8 1 0 90 91 2 0 500g GL900 22 5 1 1 300g 830 90 93 0 120 2 86V 4 58V 4 58 2 86 1 72V X V 340 5V 1 72V X 1 72 840 5 X 116 96 120 120 116 96 3 04 8 04 HHHHHHHHHHH 2 2011 6 3 1 9 s 120 300g 120 44 94 90 0s 0 5seCc 10sec 15sec 20sec 25sec 44 894 90 9 0 120 300g 120 1 0 3 0 0 8 2 0 120 8g 4 90
41. HV Q00g 67kg cm 11 1V 1 45kg 6 146 No1 Otto Bock 2 5kg 70 RC SR SR 2010 91 9 GRAPH TEC GL900
42. eory of multi fingered hand s a modehng Springer 2007 October 2009 Vol 27 No 8 p102 108 2009 10 34 p47 56 2006 11 RC 6 35 p33 44 2007 12 RC 6 35 p45 52 2007 RCB 1 6 86 p37 46 2008 RC AGB65 RS C 6 36 p47 56 2008 RC
43. man aDan CO JD
44. ng time and steady state deviation using control engmeermg 1S Dossible to solve it from the GL900 s data As a result prehension part of flexible jomt SDP robot arm was able to stop vbraton of a hand by prmcple of conservatlon of energy Keywords coordinated moton flexible omt prosthesis SDP robot arm 1 45kg FJRACK theory 1 18 348 1 1 3000 18 7 50 5 13 6 DO 5 weg 145 HHHHHHHHHHHH 22011 5 9
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