パワーアシスト装置の研究（第２報：重力負荷と動的負荷に異なるアシスト比を設定する制御法の多自由度システムへの適用）
林原 靖男， 谷江 和雄， 荒井 裕彦， 渡嘉敷 浩樹
日本機械学会論文集Ｃ編, Vol.65, No.629, pp.198-205, 1999.
［和文要旨］
本研究で従来から提案するパワーアシスト手法を多自由度系に拡張した．パワーアシスト系において，アクチュエータのトルク飽和は操作性，安定性を低下させる．それを防止するために，負荷を重力成分と動的成分に分け，それぞれを人とアクチュエータの能力に応じて，個々の比率でアシストするのが提案手法である．本稿では，提案手法を多自由度系に拡張するための制御系の設計法について明らかにする．さらに，多自由度パワーアシスト実験装置を試作し，実験により提案法の有効性を確認する．
Study on Power Assist System
(2nd Report, Applying the Control Method with Different Assist Ratios for Gravity and Dynamic Load to Multi-degree-of-freedom System)
Yasuo Hayashibara, Kazuo Tanie, Hirohiko Arai, Hiroki Tokashiki
Transactions of the Japan Society of Mechanical Engineers (C)，Vol.65, No.629, pp.198-205, 1999.
[Abstract]
This paper deals with the power assist system which is used to attenuate load force. We have proposed the control method for avoiding actuator's saturation and maintaining high power assist efficiency. The proposed control method is based on that, the operated load is divided into gravity load and dynamic load, and the power assist ratio for the gravity load is determined considering the human capability and the ratio for the dynamic load is determined considering the actuator's maximum torque. In this paper, we discuss how to apply the control method to a multi-degree-of-freedom power assist system. The relation between an operator's force and a load force to realize the proposed control method in the multi-degree-of-freedom system is formulated, the controller is constructed based on it, and the effectiveness of the power assist system used such controller is confirmed by experiments using a multi-axis power assist system.
[Keywords]
Mechatronics and Robotics, Maneuverability, Human Engineering, Power Assist System, Teleoperation, Master-Slave Manipulator, Human-robot System