自動搬送モードから半自動整定モードに切り換わる位置決め制御手法 : 半自動整定モードの提案(機械力学,計測,自動制御)

概要

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Power-assist system technology and its applications to manufacturing systems have attracted special interest recently. However, many power-assist systems for industrial uses possess simple power-assisting function only. This study takes account of the case that a positioning pattern appears repeatedly. We discuss the combination of an automatic access motion and a manual delicate adjustment for the case. This paper proposes a positioning control method by means of a switching from an automatic traveling mode (ATM) to a semi-automatic settling mode (SASM). SASM provides the nominal motion (NM) based on an optimal control method and realizes the power-assist for the manual adjustment of NM. To obtain a smooth switching, this method utilizes a two-degree-of-freedom control system structure which consists of two parts. The first part is the on-line simulator including the nominal motion generator and a nonstationary impedance controller. The other one is an LQI servo controller. The effectiveness of the method is verified experimentally.
一般社団法人日本機械学会の論文
2005-08-25