Evaluation of Compensation Ratios in Power Assist System Based on Operational Sensation
Evaluation of Compensation Ratios in Power Assist System Based on Operational Sensation
复制标题
基于操作感觉的助力系统补偿比评估
DOI：
10.1541/ieejeiss1987.117.5_534
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发表时间：
1997
影响因子：
--
通讯作者：
H. Tokashiki
中科院分区：
文献类型：
--
作者：
Y. Hayashibara;K. Tanie;H. Arai;H. Tokashiki
本文讨论用于衰减负载力的动力辅助系统的一些主题。在这样的系统中，当执行器饱和时，机动性和稳定性丧失是一个严重的问题。为了避免这种情况，我们提出了具有重力和动态负载单独补偿比的动力辅助系统。在本文中，我们基于操作感觉，通过实验验证了所提出方法的有效性，并讨论了补偿比率应如何确定。
This paper deals with some topics of the power assist system which is used for attenuating the load force. In such system, it is a serious problem that the maneuverability and the stability are lost when the actuators are saturated. For avoiding that, we have proposed the power assist system with individual compensation ratios for gravity and dynamic load. In this paper, based on the operational sensation, we confirm the validity of the proposed method and discuss how the compensation ratios should be determined through our experiments.