AI SearchBalancing control of AIT's Leg Exoskeleton under unknown extrenal perturbations
Call Number: AIT Thesis no.ISE-08-28 Material type:
SeriesSeries: Asian Institute of Technology. Thesis ; no. ISE-08-28Publication details: Pathum Thani, Thailand : Asian Institute of Technology, 2008Description: 1 online resource (52 p.) : illSubject(s): Online resources: Dissertation note: Thesis (M.Eng.) - Asian Institute of Technology, 2008 Summary: In this thesis, the whole-body cooperate balancer is designed to control the balance of AIT's leg exoskeleton which it has 12 DOF. This balancer can achieve it purpose by extension the range of inverse kinematics by integrating the mass distribution information to whole-body and use it control the position of total COG. The combined end-effector manipulator improves corrected posture close to the original posture which before the exoskeleton agent the unknown external perturbation. Also P-controller can improve the time efficiency of disturbance rejection. The author use MATLAB software to implement and simulate this balancer. It can provide physical environments and many tools before implementation of real exoskeleton.
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Asian Institute of Technology Library AIT Publications | AIT Thesis no.ISE-08-28 (Browse shelf(Opens below)) | 1 | Available | 30050120701031 | |||||||||||||
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20-AIT Publication
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Asian Institute of Technology Library AIT Publications | AIT Thesis no.ISE-08-28 (Browse shelf(Opens below)) | 2 | Available | 30050120701023 | |||||||||||||
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Asian Institute of Technology Library Archives | AIT Thesis no.ISE-08-28 (Browse shelf(Opens below)) | 1 | Available | 30050160030812 |
A thesis submitted in partial fulfillment of the requirements for the degree of Master of Engineering in Mechatronics, School of Engineering and Technology
Thesis (M.Eng.) - Asian Institute of Technology, 2008
In this thesis, the whole-body cooperate balancer is designed to control the balance of AIT's leg exoskeleton which it has 12 DOF. This balancer can achieve it purpose by extension the range of inverse kinematics by integrating the mass distribution information to whole-body and use it control the position of total COG. The combined end-effector manipulator improves corrected posture close to the original posture which before the exoskeleton agent the unknown external perturbation. Also P-controller can improve the time efficiency of disturbance rejection. The author use MATLAB software to implement and simulate this balancer. It can provide physical environments and many tools before implementation of real exoskeleton.
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