柔軟物の自動搬送から手動位置決め作業までの操作支援法(機械力学,計測,自動制御)

概要

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In industrial production lines, there are many operations by not only autonomous machinery as industrial robots but also man-machine cooperative systems as power-assist systems. There are many flexible and large parts because of being lightened, which cause vibration during operation. In such a case, efficient mode switching from machine-oriented operation to human-oriented operation and vibration suppression are important issues. This paper presents an assist control method for task from automated conveyance to manual positioning of a flexible part. This method consists of the smooth mode switching compensator whose control input is continuous at the controll mode switching, and the input shaping compensator which is used to suppress the vibtation of the flexible part. The notch filter with a variable gain is used as the input shaping compensator, which eliminates the vibration frequency component of the flexible part from operating force signal. The effectiveness of the proposed method is verified from standpoints of maneuverability and operating feel. The former is based on the evaluation of the time responses and the success time of the task, and the latter is the subjective evaluation of the operators using questionnaires.
2010-08-25