Development of a Power-Assist Lifting Device Using Multi-DOF Suspension Mechanism 2nd Report, Study on Sequential Identification Technique of Jacobian Matrix

Recently, in plant construction sites, a shortage of skilled workers has required increased efficiency in the operations of lifting, moving and setting up heavy equipment. For this purpose, a Power-Assist Lifting device (PAL) is considered one of the most effective means for utilizing the unique sen...

Full description

Saved in:
Bibliographic Details
Published inTransactions of the Japan Society of Mechanical Engineers Series C Vol. 70; no. 693; pp. 1456 - 1462
Main Authors YAMAGUCHI, Daisuke, TAGAWA, Yasutaka, HAYATSU, Masaki, YAMADA, Manabu
Format Journal Article
LanguageJapanese
Published The Japan Society of Mechanical Engineers 25.05.2004
Subjects
Jacobian Matrix
Motion Control
Power Assist
Wire-Driven Parallel Mechanism
Online AccessGet full text

Cover

More Information
Summary:Recently, in plant construction sites, a shortage of skilled workers has required increased efficiency in the operations of lifting, moving and setting up heavy equipment. For this purpose, a Power-Assist Lifting device (PAL) is considered one of the most effective means for utilizing the unique sensory skills of a human being and the physical power of a machine. In this paper, the control problem is studied in relation to a PAL which is driven by a parallel wire mechanism. The objective of this study is to develop a control technique using sequential identification of Jacobian matrix so that the wire-driven PAL can move heavy equipment such as large pipes continuously and with precision, without any influence of geometric non-linearity. The effectiveness of the control technique is verified through experiment.
ISSN:0387-5024
1884-8354
DOI:10.1299/kikaic.70.1456