POWER ASSIST DEVICE AND ITS CONTROL METHOD

摘要

PROBLEM TO BE SOLVED: To provide a power assist device for accurately controlling the three-dimensional attitude of an object while improving the efficiency of mounting work for a target, and to provide its control method. SOLUTION: The power assist device comprises a hand part 10 for gripping the object, a vertical drive part 11 for driving the hand part 10 in the vertical direction, a free joint part 12 for rockingly connecting the hand part 10 to the vertical drive part 11 in any three-dimensional direction, an angle sensor 13 for detecting three-dimensional displacing angles (a pitch angleα, a rolling angleβ, and a yawing angleγ) of the object to the free joint part 12, and a control part 14 for calculating a projecting angleθpof the object 2 in an absolute coordinate space projected on a x-z plane, from the displacing angles (the pitch angleα, the rolling angleβ, and the yawing angleγ) of the object detected by the angle sensor 13, to drive the vertical drive part 11 so that the projecting angleθpis a reference displacing angleθs. COPYRIGHT: (C)2009,JPO&INPIT