Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
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Design and Evaluation of the Control Performance of a Compliant Arm Support

중력 보상 팔 기능 지지대의 설계 및 제어 성능 평가

  • Kim, Sang-Hun (Department of Mechanical Engineering, Seoul National University) ;
  • Jeong, Useok (Department of Mechanical Engineering, Seoul National University) ;
  • Park, Daegeun (Department of Mechanical Engineering, Seoul National University) ;
  • Koo, Inwook (Department of Mechanical Engineering, Seoul National University) ;
  • Cho, Kyu-Jin (Department of Mechanical Engineering, Seoul National University)
  • 김상훈 (서울대학교 기계항공공학부) ;
  • 정우석 (서울대학교 기계항공공학부) ;
  • 박대근 (서울대학교 기계항공공학부) ;
  • 구인욱 (서울대학교 기계항공공학부) ;
  • 조규진 (서울대학교 기계항공공학부)
  • Received : 2015.11.09
  • Accepted : 2016.11.04
  • Published : 2017.02.01
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Abstract

This paper presents the design and the control performance of a novel dynamic compliant-arm support with parallel elastic actuators that was developed to assist with the daily living activities of those whose arms are compromised by muscular disease or the aging process. The parallel elastic-arm support consists of a compliant mechanism with combined passive and active components for human interaction and to reach the user's desired positions. The achievement of these tasks requires impedance control, which can change the virtual stiffness, damping coefficients, and equilibrium points of the system; however, the desired-position tracking by the impedance control is limited when the end-effector weight varies according to the equipping of diverse objects. A prompt algorithm regarding weight calibration and friction compensation is adopted to overcome this problem. A result comparison shows that, by accurately assessing the desired workspace, the proposed algorithm is more effective for the accomplishment of the desired activities.

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References

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