Motion Control of Novel Power Assist Lift Robot Integrated with Omnidirectional Assist Vehicle Considering Suppression of Limit Cycle at Grounding

被引：0

作者：

Funato, Kazuhiro ^{[1
]}

Tasaki, Ryosuke ^{[1
]}

Miyoshi, Takanori ^{[1
]}

Kakihara, Kiyoaki ^{[2
]}

Terashima, Kazuhiko ^{[1
]}

机构：

[1] Toyohashi Univ Technol, Dept Mech Engn, Toyohashi, Aichi, Japan

[2] KER Co Ltd, Dept Reserach & Dev, Toyohashi, Aichi, Japan

来源：

2017 56TH ANNUAL CONFERENCE OF THE SOCIETY OF INSTRUMENT AND CONTROL ENGINEERS OF JAPAN (SICE) | 2017年

关键词：

Power Assist Lift; Omnidirectional Vehicle; Differential Drive Steering System;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, system design and motion control of a nursing lift robot which runs on the ground is presented. This supporting lift robot provides a power assist function for transfer aid system with hoisting and lowering, and also an omnidirectional motion function, using DDSS (Differential Drive Steering System). Further, logic control to suppress limit cycle of lift at grounding is proposed. The effectiveness of the proposed robot has been demonstrated through a lot of experiments in the present research.

引用

页码：628 / 633

页数：6