论文信息 - Evaluation of compensation ratios in a power assist system based on operational sensation

Evaluation of compensation ratios in a power assist system based on operational sensation

This paper deals with topics relating to a power assist system that is used for attenuating load force. In such systems, it is a serious problem that maneuverability and stability are lost when the actuators are saturated. To avoid this problem, we have proposed a power assist system with individual compensation ratios for gravity and dynamic load. In this paper, based on the operational sensation, we confirm the validity of the proposed method and discuss how the compensation ratios should be determined through our experiments.

Kazuo Tanie | Hirohiko Arai | Yasuo Hayashibara | Hiroki Tokashiki

[1] 孝司山中,et al. 人工筋アクチュエータを用いたパワーアシスト回路( インテリジェント・システム) , 1993 .

[2] H. Kazerooni,et al. Extender: a case study for human-robot interaction via transfer of power and information signals , 1993, Proceedings of 1993 2nd IEEE International Workshop on Robot and Human Communication.

[3] 和雄谷江,et al. パワーアシスト装置の研究 : 第1報,重力負荷と動的負荷に異なるアシスト比を設定する制御法の提案 , 1995 .

[4] R. S. Mosher,et al. Handyman to Hardiman , 1967 .

[5] Yoshihiro Mochizuki,et al. Adaptive Impedance Control Subject to Torque Constraints in a Hydraulic Robot. , 1993 .

[6] Kazuhiro Kosuge,et al. Control of Man-Machine System Based on Virtual Tool Dynamics. , 1994 .

[7] K. Tanie,et al. Design of a power assist system with consideration of actuator's maximum torque , 1995, Proceedings 4th IEEE International Workshop on Robot and Human Communication.

[8] Xiaoping Yun,et al. Coordinated task execution of a human and a mobile manipulator , 1996, Proceedings of IEEE International Conference on Robotics and Automation.