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6自由度肩義手(SDP,ロボットアーム1.45kg)の協調動作制御システム

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In this paper I propose a quite high torque practical SDP (robot arm) using new RC servo motor. By using Motion Processor 2 (MP2) control circuit (KONDO KAGAKU Co.), I can provide a simplified total system of a compliance control method. The flexible joint SDP (robot arm) have 6 degrees of freedom (θ1: shoulder rotation angle, θ2: shoulder flexion-extension angle, θ3: humeral rotation angle, θ4: elbow flexion-extension angle θ5: wrist rotation angle, θ6: hand prehension angle) I used SDP (robot arm) movement control program using script language. (KONDO KAGAKU Co.) A practical flexible joint SDP (flexible joint robot arm 1.45Kg) can make by new vibration control theory (Flexible Joint Robot Arm Control Kinoshita theory was proposed by us and was called "FJRACK theory") which is look like FST(Fixed Suspension Transducer) of B&W Co.. A rise time, a fall time, settling time and steady-state deviation using control engineering is possible to solve it from the GL900's data. As a result, prehension part of flexible joint SDP (robot arm) was able to stop vibration of a hand by principle of conservation of energy.