エネルギー変換効率の良いMP2を用いた柔軟関節6自由度肩義手(ロボットア-ム1.024kg)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 robot arm (SDP) using new RC servo motor. By using Motion Processer2 (MP2) control circuit (KONDO KAGAKU Co.), I can provide a simplified total system of a PWM control method. The flexible joint robot arm (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) I used robot arm (SDP) movement control program using Script language. (KONDO KAGAKU Co.) A practical flexible joint robot arm (Flexible joint SDP 1.024Kg) can make by new vibration control theory (Flexible Joint Robot Arm Control Kinoshita Theory was proposed by us and is 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 robot arm (SDP) was able to stop vibration of a hand by principle of conservation of energy."