Simulation of pneumatic hand crane type power assist system

Author

Doi, Tatsuya ; Yamada, Hironao ; Ikemoto, Toshihisa ; Naratani, Hiroshi

Author_Institution

Gifu Univ., Gifu

fYear

2007

fDate

17-20 Sept. 2007

Firstpage

2321

Lastpage

2326

Abstract

In this study, a simulation of a pneumatic hand crane for work support is developed for a system design. The mathematical model of the hand crane consists of a pneumatic cylinder model, a link model of the crane and a controller which includes a human model to enable the hand crane to be operated passively by the operation force. The human model consists of an inverse system that learns by using a neural network. The validity of the simulation was examined by comparison with measurements results from the operation force and acceleration, and thus the performance of the hand crane was evaluated.

Keywords

control system synthesis; cranes; force control; inverse problems; learning systems; neurocontrollers; pneumatic systems; crane link model; human model; inverse system; learning system; mathematical model; neural network; operation acceleration; operation force; pneumatic cylinder model; pneumatic hand crane; power assist system; system design; work support; Acceleration; Cranes; Force control; Force feedback; Force measurement; Humans; Mathematical model; Neural networks; Power system modeling; Valves; Hand Crane; Human Model; Neural Network; Pneumatic; Power Assist; Simulation;

fLanguage

English

Publisher

ieee

Conference_Titel

SICE, 2007 Annual Conference

Conference_Location

Takamatsu

Print_ISBN

978-4-907764-27-2

Electronic_ISBN

978-4-907764-27-2

Type

conf

DOI

10.1109/SICE.2007.4421376

Filename

4421376