LIFTING CONTROL METHOD OF WEARABLE ROBOTS AND A LIFTING CONTROL SYSTEM, CAPABLE OF LIFTING OBJECTS WITH DIFFERENT WEIGHT BY SPECIFIC POWER OF A WEARER REGARDLESS OF WEIGHT VARIATION OF THE OBJECT

摘要

PURPOSE: A lifting control method of wearable robots and a lifting control system are provided to control the end of the robot with power in which the intention of a wearer is reflected to the end and to drive the wearable robot for supplying the power to the wearer.;CONSTITUTION: A lifting control method of wearable robots comprises the steps of: producing final power for objects in a lifting process by differences in weight power in which the object applies to the robot and permitted power in which a wearer applies to the robot (S100); setting target position to lift the object by the robot (S200); applying a virtual power model using the end supporting the object by the robot and a spring damper at each joint and driving each joint of the robot according to final torque by converting the final torque required to each joint of the robot by applying the final power (S300); and fixing the final power when the robot lifts the object to the target position (S400).;COPYRIGHT KIPO 2013;[Reference numerals] (AA) Start; (BB) Finish; (S100) Power generating step; (S200) Position setting step; (S300) Lifting step; (S400) Fixing step; (S500) Transferring step