1P1-C19 手動モードから自動モードに切り換わる柔軟物搬送における位置決め制御 : Crackle最小軌道を用いた位置決め制御

概要

論文の詳細を見る
In automobile production lines, there are many operations by not only autonomous machinery as industrial robots but also man-machine cooperative systems as power-assist systems. In this case, efficient mode switching from human-oriented operation to machine-oriented operation is important. This paper presents a new mode switching control method from the manual mode to the automatic mode for flexible parts conveyance. In the manual mode, impedance control is applied to the power assist devise. In the automatic mode, the PID control and the desired trajectory of the power assist machine are used to suppress vibration of a flexible part. The desired trajectory is calculated by using minimum crackle trajectory. The minimum crackle trajectory is an ideal trajectory in reaching task of a flexible object by human hand. The effectiveness of the proposed method is verified experimentally.
一般社団法人日本機械学会の論文
2009-05-25