エネルギー変換効率の良いRCB-4HVとIMU-Zを用いた6自由度柔軟関節肩義手(ロボットア-ム 1.45kg)の協調動作制御システム

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"In this paper, we propose A coordinated motion control system for energy-saving model flexible joint shoulder-disarticulation prosthesis (SDP, robot arm 1.45kg) with 6degrees of freedom using the IMU-Z and RCB-4HV. RCB-4HV is 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 (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). Movement of the SDP was measured by IMU-Z motion sensors and potentiometers using the RCB-4HV Command Generator. 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") A Rise time, A Fall time, Settling time and Steady-state deviation using control engineering is possible to solve it from the fundamental GL900's data and IMU-Z data. As a result, prehension part of flexible joint SDP is stopped vibration of a hand by principle of conservation of energy."