A Power Assist System for Sinusoidal Motions Utilizing Mechanical Elastic Elements -Theoretical Investigation and Experimental Verification of Robustness-
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- Uemura Mitsunori
- Department of Robotics, Ritsumeikan University
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- Kanaoka Katsuya
- Department of Robotics, Ritsumeikan University
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- Kawamura Sadao
- Department of Robotics, Ritsumeikan University
Bibliographic Information
- Other Title
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- 機械的弾性要素を利用した周期運動用パワーアシストシステム‐理論的考察とロバスト性の実験的検証‐
- キカイテキ ダンセイ ヨウソ オ リヨウシタ シュウキ ウンドウヨウ パワー アシスト システム リロンテキ コウサツ ト ロバストセイ ノ ジッケンテキ ケンショウ
- —Theoretical Investigation and Experimental Verification of Robustness—
- ―理論的考察とロバスト性の実験的検証―
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Description
In this paper, we conducted theoretical investigation and experimental verification of robustness on a power assist system that utilizes stiffness optimization of a mechanical elastic element. This power assist system amplifies torque of its operator and optimizes the stiffness automatically to minimize torque of an actuator in the case of sinusoidal motions. The theoretical investigation clarified physical meanings of all terms of the controller, which realizes the torque amplification and the automatic stiffness optimization. Some experimental results demonstrated the effectiveness of the proposed power assist system even when some physical parameters of the controlled object are not known precisely.
Journal
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- Journal of the Robotics Society of Japan
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Journal of the Robotics Society of Japan 26 (3), 294-300, 2008
The Robotics Society of Japan
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Details 詳細情報について
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- CRID
- 1390001204725100544
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- NII Article ID
- 10021142239
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- NII Book ID
- AN00141189
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- ISSN
- 18847145
- 02891824
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- NDL BIB ID
- 9474379
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- Text Lang
- ja
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- Data Source
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- JaLC
- NDL Search
- Crossref
- CiNii Articles
- KAKEN
- OpenAIRE
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- Abstract License Flag
- Disallowed