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문영진,Scott Arthur Banks 한국정밀공학회 2015 International Journal of Precision Engineering and Vol. No.
This paper presents a single degree of freedom suspension system to assist small six degree of freedom robots manipulating heavypayload. The goal of the system is to reduce the load applied to the last link of a robot manipulating a payload that is heavier thanthe robot’s specified allowable load capacity. An assistive suspension system was implemented to realize vertical-only motion of therobot. A mathematical model was derived, and a proportional-integral-derivative controller with an inner velocity loop was designed. Variable parameters in the model such as friction coefficients were identified in an experiment on the voltage input and velocityoutput. To determine how much the assistive system reduces the load on the robot, the system was connected to the robot using aninterface attached with magnets and a force sensor was fixed to the last link of the robot. In the experiment, the cable tension wasmeasured and controlled to satisfy the design preference for the assistive system to be stand-alone, rather than relying on force sensoron the robot. The experiment was performed using various control gains under different conditions, such as the periods of inputmotion and payload weight. The results showed that the system could reduce 3.8 and 6.0 kg payloads on the robot to 50% and 40%,respectively.
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