ICRA 2011 Paper Abstract


Paper TuA111.5

Miyoshi, Takanori (Toyohashi Univ. of Tech.), Terashima, Kazuhiko (Toyohashi University of Technology)

Development of Five-Degree-Of-Freedom Wire Suspension Power-Assisted System Using Linear Cylinders

Scheduled for presentation during the Regular Sessions "Flexible Arms/Robots" (TuA111), Tuesday, May 10, 2011, 09:20−09:35, Room 5F

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on April 2, 2020

Keywords Force Control, Parallel Robots, Cooperative Manipulators


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.



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