高トルクなシリアルRCサーボモータを用いた6自由度柔軟関節肩義手の協調動作制御システム

概要

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Flexible joint type SDP can not control exactly using advanced control for robot systems. θ1 and θ2 have special structure which cancel undesired vibration. In this paper we propose coordinated motion control system (KONDOU KAGAKU, MP2) for SDP with 6 degrees of freedom using high torque serial RC servo motor. The fundamental coordinated control system can move like human arm using slide bar control software. The SDP (2009) is used RC servo motor, 2ptentiometers and SATOGIKEN CO.LTD Cosmetic Gloves. Unit step response of this SDP is the output signal of GL900 (GRAPHTEC, sampling time 10μsec). Undesired vibration can stop using special structure.