Design and Control of the Upright Controllable Force Sub-system for the Suspended Gravity Compensation System

被引：0
|
作者：
Jia, Jiao [1 ,2 ]
Jia, Yingmin [1 ,2 ]
Sun, Shihao [1 ,2 ]
机构：
[1] Beihang Univ BUAA, Sch Automat Sci & Elect Engn, Res Div 7, Beijing 100191, Peoples R China
[2] Beihang Univ BUAA, Sch Automat Sci & Elect Engn, Ctr Informat & Control, Beijing 100191, Peoples R China
来源：
PROCEEDINGS OF 2016 CHINESE INTELLIGENT SYSTEMS CONFERENCE, VOL II | 2016年 / 405卷
关键词：
Lagrange method; Controllable force; Robust control; Interference suppression; Active follow;
D O I：
10.1007/978-981-10-2335-4_4
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
This paper introduces the design and control of the suspended gravity compensation system's upright controllable force subsystem. The upright subsystem consists of the transmission compensation module, the buffer module, and the control part. The transmission compensation module includes the transmission components. The buffer module includes the compression spring and its fittings. The control part contains servo motor, tension sensor, and relative displacement sensor. The subsystem can follow the object upright motion actively and provide constant force to compensate the gravity of the object.
引用
收藏
页码：29 / 36
页数：8
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