Sequential Identification Technique of Jacobian Matrix for a Power-Assisted Lifter Using Wire-Driven Parallel Mechanism

摘要

The shortage of skilled workers at plant construction sites has made it necessary to increase efficiency in lifting, moving, and setting up heavy equipment. For this purpose, a power-assisted lifter (PAL) is considered one of the most effective means for using unique sensory human skills and the physical power of a machine. In this paper, the control problem is studied for a PAL driven by wires. The objective of this study is to develop a control technique using sequential identification of Jacobian matrix so the wire-driven PAL can move heavy equipment such as large pipes continuously and accurately without being influenced by geometric nonlinearity. The effectiveness of the control technique is verified through experiments.