지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술대회자료
- 저자정보
- 발행연도
- 2012.10
- 수록면
- 82 - 86 (5page)
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초록· 키워드
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This paper proposes an assist-handle for manual conveyance of flexible part and its semi-active operation assist control. The assist-handle consists of a handle, a variable damper and a mechanical spring. The variable damper and the mechanical spring are connected in parallel. The assist-handle can be attached to a general hand cart, through which a human operates the hand cart. In order to suppress the vibration of the flexible part, the operating force is shaped by changing the viscosity of variable damper. Then the shaped force is transmitted to the hand cart through the assist-handle. The controlled system, which consists of the assist-handle, a hand cart and a flexible part, is represented as a bilinear system. The semi-active operation assist control is designed by using the bilinear optimal control theory. The performance index of bilinear optimal control involves the vibration of the flexible part and the control input. The effectiveness of the assist-handle and the semi-active operation assist control is verified by simulations.
목차
Abstract
1. INTRODUCTION
2. MODELING OF ASSIST-HANDLE, HAND CART AND FLEXIBLE PART
3. SEMI-ACTIVE OPERATION ASSIST CONTROL
4. SIMULATION
5. CONCLUSION
REFERENCES
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