2A1-B04 柔軟構造物搬送のためのロバストアシストに関する研究(人間機械協調)

概要

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The authors have studied on control systems for power assisted conveyance of flexible structures. Generally, this system includes influences of various kinds of uncertainties. One of them is vibration of controlled objects. Another one is structured uncertainty such as nonlinear friction or parameter variations. This paper shows a robust assist system design by taking these uncertainties into account. It consists of an impedance controller, a disturbance accommodating optimal controller, a disturbance observer and a reaction force controller. As a controlled object example, this paper adopts a power assist cart with a vibration system. The effectiveness of the proposed control system is verified by experiments and their corresponding simulations.
一般社団法人日本機械学会の論文
2011-05-26