文章基本信息

标题：Stability Analysis for Orchard Wearable Robotic System
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作者：Weizu Wang ; Tao Wu ; Cameron J. Hohimer 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2016
卷号：49
期号：16
页码：61-65
DOI：10.1016/j.ifacol.2016.10.012
语种：English
出版社：Elsevier
摘要：This paper presents the preliminary stability study of a lifting-walking orchard wearable robot. The robot is operated by a single person, thus, stability is a major concern for the purpose of keeping the operator safe. The force-angle model is used in this paper for stability margin modeling of the wearable robot system. A possible control strategy is given based on the model. The relationship between footprint size, robot height, bending angle of the operator and the stability margin is discussed. The result indicates that it is possible to keep the robot system stable by the stability model.
关键词：Orchard wearable robotStability marginForce-angle modelSimulation