Development of power assist system with individual compensation ratios for gravity and dynamic load

被引：0

作者：

Hayashibara, Y ^{[1
]}

Tanie, K ^{[1
]}

Arai, H ^{[1
]}

Tokashiki, H ^{[1
]}

机构：

[1] Toin Univ Yokohama, Dept Control & Syst Engn, Kanagawa 225, Japan

来源：

IROS '97 - PROCEEDINGS OF THE 1997 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOT AND SYSTEMS: INNOVATIVE ROBOTICS FOR REAL-WORLD APPLICATIONS, VOLS 1-3 | 1996年

关键词：

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：

This paper presents the design concept of a power assist system. In such system, when the controller is designed without considering the maximum torque of the actuators, the actuators can sometimes become saturated, resulting in a loss of stability and maneuverability. We propose a method for dealing with this problem. The load force is divided into gravitational and dynamic component, and each component is attenuated by an individual ratio. These ratios are determined considering the maximum power of the operator and the actuators.

引用

页码：640 / 646

页数：7