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035 _a.b1208136x
099 9 _aAIT Thesis no.ISE-08-28
100 0 _aChoopong Chauypen
245 1 0 _aBalancing control of AIT's Leg Exoskeleton under unknown extrenal perturbations
260 _aPathum Thani, Thailand :
_bAsian Institute of Technology,
_c2008
300 _a1 online resource (52 p.) :
_bill.
490 1 _aThesis ;
_vno. ISE-08-28
500 _aA thesis submitted in partial fulfillment of the requirements for the degree of Master of Engineering in Mechatronics, School of Engineering and Technology
502 _aThesis (M.Eng.) - Asian Institute of Technology, 2008
520 _aIn 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.
650 0 _aBalancing of machinery
650 0 _aSkeleton
650 0 _aArtificial legs
700 0 _aManukid Parnichkun,
_eChairperson
700 1 _aAfzulpurkar, Nitin V.,
_eExamination Committee
700 0 _aPisut Koomsap,
_eExamination Committee
710 2 _aNational Science and Technology Development Agency (NSTDA), Thailand,
_eScholarship Donor
810 2 _aAsian Institute of Technology.
_tThesis ;
_vno. ISE-08-28
856 _3Full-Text
_uhttp://203.159.5.9/ait-thesis/detail.php?q=B03241
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