高トルクな6自由度柔軟関節肩義手(ロボットアーム)の改良

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In this paper, I use the RC servo motor, we propose a practical high torque SDP. 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 a potentiometer using the Rcb4CommandGenerator. A improved model flexible joint SDP (Flexible joint Robot Arm 1.52Kg) can make by new vibration control theory.θ2 aluminum channel changed carbon channel. Thrust bearing is used θ1. A Rise time, A Fall time, Settling time and Steady-state deviation using control engineering is possible to solve from the fundamental GL900's data. As a result, prehension part of flexible joint SDP is stopped vibration of a hand by principle of conservation of energy.
2013-06-00