G1500-1-5 柔軟物搬送におけるノッチフィルタの操作支援効果に関する考察(ロボティクス・メカトロニクス部門一般講演(1):操作支援,社会変革を技術で廻す機械工学)

概要

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Recently, power assist systems (PASs) have been attracted special interest in industries. However, the operation methods of PASs for light and large scale structures (flexible structures) have not been fully addressed yet. The authors have studied on an assist control method for positioning and vibration reduction in such a problem. Concretely, the human operation input is frequency-shaped by using a notch filter in order to suppress the vibration of flexible structure. In this paper, we investigate how the notch filter generates assistance to human operation in the authors' method. Moreover, the characteristics of human operation when he/she operates the PAS with the authors' method are discussed.
一般社団法人日本機械学会の論文
2010-09-04