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History of Robotics Research and Development of Japan1994BusinessThe Open Controller of the MHI PA-10 Robot

Ken ONISHMitsubishi Heavy Industries, Ltd.
図　オープンシステム構成図
写真　アーム外形
PA-10
(2)]robots have become complicated rapidly. Robots are wanted to be open and PC based robot controllers have come to commercial. However, robot controllers will not be open merely with PC.MHI general purpose robot PA-10 has the layer structure and makes the I/F between layers simple and open to make the controller open. The most upper layer is PC. The robot, programmable on the universal OS with the world-wide popular programming language, has the infinite possibility for expansion. 4th RSJ Technical Innovations Awards in 1999.  
表　アーム仕様表
写真　アーム外形
PA-10
     

Movies

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Video 1 Motion of the redundant D. O. F. Arm
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Video 2 Applications

Correspondence papers

Ken ONISH：The Open Controller of the MHI PA-10 Robot

Journal of Japan Robot Association "Robot", No. 121, pp. 34-38, 1998.

Related papers

[1] 大西,"三菱重工の提案する汎用ロボットの新しい展開",1994,日本ロボット工業会誌No．98

[2] Noriko Ohnishi, and KenOhnishi, "Mitsubishi Portable Manipulator DEBUT! A Proposal of Open-Architecture Robot System
," Journal of the Robotics Society of Japan, Vol. 12, No. 8, pp. 1137-1142, 1994 (in Japanese).

[3] 下山，大西，林,"可搬式汎用知能アームの研究室",1995,溶接技術,平成６年12月号

[4] Kimihiro Shimoyama, and Ken Ohnishi,"The Manipulator System by PC-Controller," Journal of the Robotics Society of Japan, Vol. 16, No. 8, pp. 1050-1052, 1998 (in Japanese).

[5] 大西,１９９８,ロボット工業会,第63回　ロボット利用技術講習会　－ロボットシステムのオープン化－

[6] 尾上,"ロボットコントローラのPC化，オープン化について",1999,システム制御情報学会誌Vol.43 No.7

[8] OONISHI, "The Open Manipulator System of the MHI PA-10 Robot" ,Proc. of 30th ISR, 1999

[9] Home page of PA-10 http://www.robot-arm.com

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