ホビー用サーボRTコンポーネントの設計と実装

• 松田 啓明

  電気通信大学情報システム学研究科

• 冨沢 哲雄

  電気通信大学情報システム学研究科

• 工藤 俊亮

  電気通信大学情報システム学研究科

• 末廣 尚士

  電気通信大学情報システム学研究科

書誌事項

タイトル別名

• Design and Implementation of Hobby Servo RT-component
• ホビーヨウ サーボ RT コンポーネント ノ セッケイ ト ジッソウ

抄録

This paper proposes a design of highly reusable hobby servo RTCs (Robotics Technology Component specified by OMG). It is important for ensuring actual reusability of an RTC to define a good design of the RTC which could be commonly used in many kinds of use cases. Command-control is a popular method in hobby servo. Thus we have designed the structure of hobby servo RTCs to resemble the control method. The RTC has two inports and one outport of TimedLongSeq type which emulate a serial line for the control command. In order to evaluate the effectiveness of the design, we implemented the following RTCs and RT systems: we implemented an RTC for a command-type hobby servo based on the proposed design, and built two RT systems, a robot arm and a laser scanner, making use of the RTC. Next, we implemented RTCs for different types of servos, another type of command-control servo and a PWM-control servo, to show the reusability of our design. Finally, we built platforms for humanoid robots using these RTCs to confirm the effectiveness of our design concept in complicated applications.

収録刊行物

• 計測自動制御学会論文集

  計測自動制御学会論文集 50 (1), 18-23, 2014

  公益社団法人 計測自動制御学会

キーワード

• RT-middleware
• servo motor
• robot arm
• laser scanner
• humanoid robot

詳細情報

• CRID: 1390001204503921536
• NII論文ID: 130004855688
• NII書誌ID: AN00072392
• DOI: 10.9746/sicetr.50.18
• ISSN: 18838189
• ISSN: 04534654
• NDL書誌ID: 025155419
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I025155419
• Web Site: https://www.jstage.jst.go.jp/article/sicetr/50/1/50_18/_pdf
• 本文言語コード: ja
• データソース種別:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
  • KAKEN
• 抄録ライセンスフラグ: 使用不可