Motion control of novel power assist lift robot integrated with omnidirectional assist vehicle considering suppression of limit cycle at grounding

摘要

In this paper, system design and motion control of a nursing lift robot which runs on the ground is presented. This supporting lift robot provides a power assist function for transfer aid system with hoisting and lowering, and also an omnidirectional motion function, using DDSS (Differential Drive Steering System). Further, logic control to suppress limit cycle of lift at grounding is proposed. The effectiveness of the proposed robot has been demonstrated through a lot of experiments in the present research.