@inproceedings{0e61f815a20448db81676559e676188f,
title = "Design and control of the upright controllable force sub-system for the suspended gravity compensation system",
abstract = "This paper introduces the design and control of the suspended gravity compensation system{\textquoteright}s upright controllable force subsystem. The upright subsystem consists of the transmission compensation module, the buffer module, and the control part. The transmission compensation module includes the transmission components. The buffer module includes the compression spring and its fittings. The control part contains servo motor, tension sensor, and relative displacement sensor. The subsystem can follow the object upright motion actively and provide constant force to compensate the gravity of the object.",
keywords = "Active follow, Controllable force, Interference suppression, Lagrange method, Robust control",
author = "Jiao Jia and Yingmin Jia and Shihao Sun",
note = "Publisher Copyright: {\textcopyright} Springer Science+Business Media Singapore 2016.; International Conference on Chinese Intelligent Systems Conference, CISC 2016 ; Conference date: 01-01-2016",
year = "2016",
doi = "10.1007/978-981-10-2335-4\_4",
language = "英语",
isbn = "9789811023347",
series = "Lecture Notes in Electrical Engineering",
publisher = "Springer Verlag",
pages = "29--36",
editor = "Weicun Zhang and Yingmin Jia and Hongbo Li and Junping Du",
booktitle = "Proceedings of 2016 Chinese Intelligent Systems Conference",
address = "德国",
}