Expansion of passive dynamic control theory and its application to power assist systems

2017 Fiscal Year Final Research Report

• Project/Area Number: 15K01229
• Research Category: Grant-in-Aid for Scientific Research (C)
• Allocation Type: Multi-year Fund
• Section: 一般
• Research Field: Social systems engineering/Safety system
• Research Institution: The University of Kitakyushu
• Principal Investigator: Kiyota Takanori 北九州市立大学, 国際環境工学部, 教授 (00195405)
• Co-Investigator(Kenkyū-buntansha): 南山 靖博 久留米工業高等専門学校, その他部局等, 助教 (20549688)
• Research Collaborator: SUGIMOTO Noboru
• Project Period (FY): 2015-04-01 – 2018-03-31
• Keywords: 制御工学 / 安全工学 / パワーアシスト / メカトロニクス

Outline of Final Research Achievements

The passive dynamic control (PDC) is a control method based on the inherently safe design. In this research, we proposed a method to expand the application of the PDC, and its effectiveness was shown by applying it to the two-link pneumatic artificial manipulator on the vertical plane. Furthermore, we considered the inherently safe control where the PDC was developed theoretically. Then, based on the theory, we developed power assist systems which enabled direct-handling operation in up-and-down direction by using springs. Besides, we proposed a power-assisted cart in which the power assist system was applied, and confirmed its motion of the basic principle using a prototype cart.

Free Research Field

制御工学