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1 Copyright c 2009 by Masaki Yagi
2 c 2009 Masaki Yagi All rights reserved
3 ,,,,,,,,,,,,,, 3,,,,,,,
4
5 i
6 ii A
7 iii 21 AKI-H8/3067F(20MHz) 3 22 GP2D PG SX-101Z 5 25 PICO 5 26 EPG-VR 5 27 EPG-VB Visual Basic Visual C PWM RC RC
8 iv A1 I/O 23
9 v [5]
10 1 1 11,,,,,,, 12, 2, 3 4,,
11 ( ) 35cm 13kg 21: 13 4, 6, 2, 1 RC ERG-VB( ), ERG-VR( ) GWS PICO SX-101Z 60V 1100mAh 1 ) H8/3067F(20MHz, 32k byte RAM) (1) (2)
12 , A/D, C, H8/3067, 22, 21 21: AKI-H8/3067F(20MHz) 22: [5]
13 4 第 2 章 システムの構成 23 センサ ロボットの外のことを知る外界センサとして距離センサを, ロボット自身のことを知る内 界センサとしてジャイロを載せる 距離センサを搭載することによって, 操縦のみのリモコ ン式ロボットではなく, わずかでもロボットに状況を判断させて, 行動に反映させることが でき, 自律的に行動することが可能になる また, ジャイロを搭載することにより, 歩行の動 作が, あらかじめ決めた動作の完全な再生ではなく, 歩いている場所の微妙な凹凸を感じて, 歩き方に反映できるようになる [1] 次にロボットに搭載するセンサを簡単に説明する 距離センサは, 赤外線を使って距離を測 るセンサである 赤外線を出す部分と, その赤外線のスポットの方向を読み取る部分で構成 されており, 三角測量の原理で距離を求める シャープ製の測距センサユニット GP2D12(図 22) という機種を使う ジャイロは, 回転運動を測るセンサで, GWS 製の PG-03(図 23) と いう機種を使う 図 22: 距離センサ GP2D12 24 図 23: ジャイロ PG-03 駆動部 駆動部に, RC サーボモータを使う サーボモータとは制御回路を含むモータモジュール である この制御回路に, 制御パルスを送ると, そのパルス幅に比例した角度にまで回転す る パルスの幅と回転角度の対応は, それぞれのサーボモータで少しずつ違ってくる 本研究では, 主にサンワ製の SX-101Z(図 24) という機種の RC サーボモータを用いる 首は力より軽さを重視するため GWS 製の PICO(図 25) を使用する 腰に使う RC サーボ モータは SX-101Z では力不足なので, サンワ製の EPG-VR(図 26) と ERG-VB(図 27) を 使う 本研究では, RC サーボモータを合計 13 箇所に用いる 今回, 使用するサーボモータの 図を以下に示した
14 : SX-101Z 25: PICO 26: EPG-VR 27: EPG-VB 25,, Ni-MH( ) 12V 1100mAh 5, 6V 26, 1mm,,,,,, ( mm)
15 ,,, ( ) 3, [1] 31, 32
16 : 32:
17 8 3 1 ( 33),,, 2 RC,,,, RC 1,, RC,,,,,,,, RC,, [1] 33: 2, 34, 1,,,,,,
18 : 3, 35, AB, L,, RC SX-101Z 33kg cm L= 50mm 1300[g] 2 50[mm] = 32500[g mm] = 325[kg cm] (31), 5cm 1300g F L 35:
19 I/O 36: 2 I/O I/O A1
20 , PC (GUI ), PC (GUI ), H : 1 PC (GUI ), Microsoft Visual Basic 2008 Express Edition( 38) RC,,,, 38: Visual Basic
21 PC (GUI ) Microsoft Visual C Express Edition( 39) 39: Visual C++ 3 H8 Visual C++, H8 C
22 PWM 41 OFF PWM [4] 41: PWM PWM T on, duty = x T 100[ ] (41)
23 RC 42 20ms 15ms RC 15ms,, RC ms ms ms 42: RC, 13 RC, 13, 20ms, SM0 SM1 SM2 SM3 SM4 SM5 SM6 SM7 SM8 SM9 SM10 SM11 SM12 43:
24 ,, RC, [s], RC, 44, RC,,,, [1] RC 44: RC
25 , RC 4, RC,, 4, mm,,, 41, Bone length mm 41: # Bone length Bone length Servo Data Servo Data Servo Data Servo Data Servo Data # Bone length Bone length Servo Data Servo Data Servo Data Servo Data Servo Data # Servo Data Servo Data Servo Data
26 45 17 RC Servo data, RC ( A, B, C ), RC A-B B-C 0 45, A 45, B RC A-B y = 2167 x (42) RC,,,, A-B B-C 2 [1] 45: 0 45,,,,,,, 46,, 1 50,
27 18 4, 1 50,,,,,,,,,,, ( ) 3 1, 2, H8, PC,, H8 3 [1] 46:
28 , 2 3,, 3,,,, 47,,, 2, a, c a b c, c a [1] A C B A C B c b a c b a A C B c b a c b a A C B c b a c b a A C B 47:
29 20 4, 1, 2, 3 48,, RC, ( ), 3,, 48: Gyro Ref Gyro Data t0 15ms, t1, 15ms,,
30 48 21,,, RC,,,, 020, t Gyro Ref Gyro Data t1 49:,,, 2, Visual Basic, 60, 5 120, 60,,, 48, H8,,,,, 1 3
31 ,,,,, 52,,,,,,,
32 23 A A1: I/O
33 24, 5 1,,,,,
34 25 [1], 60!,, 2007 [2], y yoshino [3], [4] PWM, [5] H8/3067RF CPU SSH8-3067F,, 2003
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