抄録
In this paper, a power assisted attitude control system composed by parallel wire is proposed. This system achieves to control attitudes of an object reducing operator's load and realizing direct manipulation. In our previous researches, a power assisted control system for an overhead crane was proposed. Operators could move a heavy object freely by slight force horizontally, vertically and 1-DOF attitude. However, it's had a restriction in the shape. Our new proposed equipment consists of the over-head crane and 2 linear cylinders. The power assisted 2-DOF attitude control algorithm to control the lengths of the cylinders and the hoisting motion of the crane synchronously is proposed, and the effectiveness is demonstrated by the simulation. Finally, an advantage of the proposed controller is demonstrated by the experiment.
