Development of Five-Degree-of-Freedom Wire Suspension Power-Assisted System Using Linear Cylinders
In this paper, a power-assisted attitude control system consisting of parallel wires is proposed. This system controls the attitude of an object, thus reducing the burden on the operator and allowing direct manipulation. In our previous research, a power-assisted control system for an overhead crane was proposed. Operators could move a heavy object freely in horizontal and vertical directions and adjust one-degree-offreedom (1-DOF) attitude by inputting a slight force grasping the object directly, that meant the operator did not feel any sensors. Our newly proposed equipment consists of an overhead crane and two linear cylinders. A power-assisted 2-DOF attitude control algorithm that controls the length of the cylinders and hoisting motion of the crane synchronously is proposed, and the effectiveness of the system is demonstrated in some experiments.
Takanori MIYOSHI Kenji SUZUKI Kazuhiko TERASHIMA
Mechanical Engineering of Toyohashi University of Technology,Tenpaku 1-1 Toyohashi,Aichi,JAPAN Honda Motor Company,Limited
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
342-348
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）