1A2-F08 産業用パワーアシスト装置の最適質量値決定に関する研究(感覚・運動・計測)

概要

論文の詳細を見る
This paper describes the improvement of the maneuverability of a power assist device used in factories. An impedance control method based on force control is used in the device. Friction compensation can not applied in low velocity because the direction for the compensation is difficult to estimate in the velocity and the maneuverability becomes bad. Therefore, a technique in which the friction effect is reduced by mass effect is proposed for improving the maneuverability. If the mass of the power assist system becomes large, the friction effect is reduced but wasteful energy consumption becomes large. Then, an index evaluating both the reduction of friction effect and the energy consumption is applied to obtain an optimal mass and the effectiveness is shown by simulation and experiment.
一般社団法人日本機械学会の論文
2007-05-11