Study of power-assisted attitude control with direct manipulation for four DOF

In this paper, a power-assisted attitude control system, of which the purpose is to eliminate a worker's burden and to support the operation for beginners, is presented. In previous studies, we already suggested a power-assisted system to control the horizontal and vertical axes. However, it di...

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Bibliographische Detailangaben
Hauptverfasser:	Sawano, T., Kojima, H., Miyoshi, T., Terashima, K.
Format:	Tagungsbericht
Sprache:	eng
Schlagworte:	Actuators Control systems Cylinder Driven System End effectors Engine cylinders Force measurement Manufacturing automation Parallel Mechanism Power engineering and energy Power-Assisted System Production systems Synchronous Control Systems engineering and theory Wire Wire Suspension System
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Beschreibung
Zusammenfassung:	In this paper, a power-assisted attitude control system, of which the purpose is to eliminate a worker's burden and to support the operation for beginners, is presented. In previous studies, we already suggested a power-assisted system to control the horizontal and vertical axes. However, it did not deal with rotary motion. Therefore, we try to enhance the dimension of motion control in the assembling process because a system with three degrees of freedom (DOF) has limited workability. In this study, we proposed a novel power-assisted system that had a higher degree of freedom to achieve attitude control, and confirmed the effectiveness of this system experimentally.