空気圧による移乗・移載装置の開発(第2報) : 移動機構と対話システム

概要

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The aim of this paper is to develop welfare machine which has light weight and compact size, has interactive system in technique of human engineering in order to operate, and has actuator compliance control possible for movement to transfer viscosity elastic body as human being. Two 3 degree of freedom parallel robots of air pressure drive were developed as lift device in the previous paper, and the positioning control, the power control experiment were done, and a result for wish was provided. Transfer device by the air pressure drive that lift device is picked up in this report, and is carried to a destination is developed, and its effectiveness is confirmed by an experiment, and it is reported about algorithm to handle two 3 the degree of freedom robots which interactive system on the basis of the recognition human engineering was developed to simplify operation of welfare machine, and the whole device is used for with lift device more to ligthen with one computer.
公益社団法人精密工学会の論文
2000-05-05