懸垂機構を用いた多自由度型パワーアシスト吊搬装置の開発 : 第2報,速度変換行列逐次同定手法の検討(機械力学,計測,自動制御)

概要

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Recently, in plant construction sites, a shortage of skilled workers has required increased efficiency in the operations of lifting, moving and setting up heavy equipment. For this purpose, a Power-Assist Lifting device (PAL) is considered one of the most effective means for utilizing the unique sensory skills of a human being and the physical power of a machine. In this paper, the control problem is studied in relation to a PAL which is driven by a parallel wire mechanism. The objective of this study is to develop a control technique using sequential identification of Jacobian matrix so that the wire-driven PAL can move heavy equipment such as large pipes continuously and with precision, without any influence of geometric non-linearity. The effectiveness of the control technique is-verified through experiment.
社団法人日本機械学会の論文
2004-05-25