Positioning of a Cart by Means of a Smooth Switching from Servo Access Control to Impedance Control (Realization of Force Sensorless Control)
サーボ搬送制御とインピーダンス制御のなめらかな切り換えによる台車の位置決め(力覚センサレス制御の実現)

Susumu HARA, Yoji YAMADA
2007 Transactions of the Japan Society of Mechanical Engineers Series C  
Power-assist system technology and its applications to manufacturing systems have attracted special interest recently. For example, automobile assembly processes utilizing power-assist systems have existed. Many power-assist systems for industrial uses possess simple power-assisting function only. Conveyance of controlled objects is generally processed by another system. Then, one of the authors has studied on the positioning method of a cart with motor by means of a smooth switching from the
more » ... rvo access control for the conveyance function to the impedance control for the powerassisting function. The nonstationary optimal control method and the nonstationary impedance control law are applied to obtain the smooth switching. However, this method requires a force sensor for detecting the operator's force. To improve the usefulness and safety of the system, a force sensorless control method for the system is studied in this paper. Instead of the force signal, this study utilizes the acceleration signal of the cart. The method shows its effectiveness by experiments.
doi:10.1299/kikaic.73.1618 fatcat:y7mwih3gubfvjasitz5wos2634