2A2-G06 搬送物の直接把持を可能とする姿勢制御パワーアシストシステムの開発(ワイヤ駆動系の機構と制御)

概要

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In this paper, a power-assisted attitude control system composed by parallel wire driven system is proposed. This system achieves to control attitudes of an object reducing operator's burden and realizing direct manipulation. In our previous researches, a power-assisted control system for an overhead crane was proposed. Operators could move a heavy object freely by slight force horizontally and vertically. However, this system could not control attitudes of an object since it has been composed by an overhead crane. In order to solve this problem, parallel wire driven system which can control object's attitudes is developed. This equipment consists of the overhead crane and the linear cylinder. Power-assisted attitude control algorithm, that is the length of the cylinder and the hoisting motion of the crane are controled synchronously is proposed. Finally, an advantage of the proposed controller is demonstrated by the experiment.
一般社団法人日本機械学会の論文
2007-05-11