Paper Info
Title
Development of five-degree-of-freedom wire suspension power-assisted system using linear cylinders
Abstract
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-of freedom (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.
Year
DOI
Venue
2011
10.1109/ICRA.2011.5979880
Robotics and Automation
Keywords
Field
DocType
attitude control,cranes,grippers,hoists,motion control,suspensions (mechanical components),wires,direct manipulation,five-degree-of-freedom wire suspension power-assisted system,hoisting motion control,linear cylinder,one-DOF attitude control,one-degree of freedom attitude control,overhead crane,parallel wires,power-assisted attitude control system,power-assisted control system,power-assisted two-DOF attitude control algorithm,slight force grasping
Motion control,Degrees of freedom (statistics),Control theory,Simulation,Overhead crane,Hoist (device),Attitude control,Control engineering,Operator (computer programming),Control system,Engineering,Grippers
Conference
Volume
Issue
ISSN
2011
1
1050-4729
ISBN
Citations 
PageRank 
978-1-61284-386-5
1
0.43
References 
Authors
5
3
Name
Order
Citations
PageRank
Takanori Miyoshi15220.65
Kenji Suzuki212726.67
Kazuhiko Terashima310033.03