ワイヤ懸垂型マニピュレータの開発(機械力学,計測,自動制御)

抄録

A wire suspended manipulator in a three dimensional space on a vertical plane is developed. The system consists of a 4 D. O. F. manipulator and a crane with two wires. The base link of the manipulator is suspended by two wires those lengths and upper end positions are controlled respectively. In order to avoid the vibration and displacement of the suspended base link, not only the position and orientation of the end-effector but the position of the gravity center of the suspended part are controlled by using the 4 D. O. F. manipulator. Additionally, two wire directions are used for avoiding the positioning errors under the existence of external forces. Some fundamental experiments show the validity of the proposed control algorithm.