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公开(公告)号:KR1020130073104A
公开(公告)日:2013-07-03
申请号:KR1020110140779
申请日:2011-12-23
Applicant: 현대자동차주식회사
Abstract: PURPOSE: A method for extracting an operating force of a wearable robot is provided to rapidly extract the operating force of a user adding the operating force by holding a steering wheel using a power sensor and an accelerating sensor installed between a gripper and a steering wheel. CONSTITUTION: A method for extracting an operating force of a wearable robot comprises the steps of: calculating the mass of a load using the sensing power and the measured acceleration when the load moves (S20); multiplying the mass of the load by the acceleration from an accelerating sensor and outputting an external force added to a gripper by the load (S30); and subtracting the external force from the sensing power and outputting an operating force of a user (S40). [Reference numerals] (AA) Start; (BB) Complete to install a power sensor and an accelerating sensor & gripper load holding state; (CC) Apprvoe an operating force of a user; (DD) Drive a robot to measure sensing power of the power sensor : robot driving force = sensing power × amplification rate; (EE) Amplification rate increase; (FF) Load move?; (GG) Calculate torque (τ-h=J^Tf_h,τ_e=J^Tf_e); (S20) Calculate the mass of the load[ (sensing power / acceleration) - gripper mass]; (S30) Calculate an external force by the load (fe) (mass of the load × acceleration); (S40) Calculate the operating force (fn) of the user (sensing power - the external force by the load)
Abstract translation: 目的:提供一种用于提取可穿戴机器人的操作力的方法,以通过使用安装在夹持器和方向盘之间的功率传感器和加速传感器来保持方向盘来快速提取添加操作力的用户的操作力。 构成:用于提取可穿戴机器人的操作力的方法包括以下步骤:使用感测功率计算负载的质量和当负载移动时测量的加速度(S20); 将负载的质量乘以加速度传感器的加速度,并通过负载输出添加到夹持器的外力(S30); 以及从感测功率减去外力并输出用户的操作力(S40)。 (附图标记)(AA)开始; (BB)完成安装功率传感器和加速传感器和夹持器负载保持状态; (CC)允许用户的操作力; (DD)驱动机器人测量功率传感器的感应功率:机器人驱动力=感应功率×放大率; (EE)放大率增加; (FF)负载移动 (GG)计算扭矩(τ-h = J ^ Tf_h,τ_e= J ^ Tf_e); (S20)计算负载质量[(感应功率/加速度) - 夹具质量]; (S30)通过负载(fe)(负载质量×加速度)计算外力; (S40)计算用户的操作力(fn)(感应功率 - 负载的外力)