2A1-A06 スキルアシストの自動モードから手動モードへの安全な切り換え制御手法(安全・安心なロボットを目指して)

概要

論文の詳細を見る
Power assist device "Skill-Assist" we developed for workers in the labor intensive manufacturing has become in practical use in automobile production lines. Not only hands-on control mode such as power assisting but also hands-off control mode such as automatic transportation from a distant location is important to improve the efficiency of the works by Skill-Assist. Our objective in this study is to verify the functionality of a safety switching method for transferring from hands-off control mode to hands-on control mode of Skill-Assist. A nonstationary impedance control law including time-varying impedance parameters is utilized to attain the objective. Experimental results show that control input, displacement, and velocity of Skill-Assist vary continuously in transferring from hands-off to hands-on control mode and we can confirm the safety switching control method of Skill-Assist.
一般社団法人日本機械学会の論文
2007-05-11