Abstract
Power-assist system technology and its application to manufacturing systems have attracted special interest recently. For example, automobile assembly processes utilizing power-assist systems exist. Many power-assist systems for industrial uses possess simple power-assisting function only. Transfer of controlled objects is generally processed by another system. This fundamental study proposes a transfer control method of a cart with motor by means of a switching from the impedance control realizing the power-assist to the servo control for automatic transfer. To obtain smooth switching, this study utilizes a nonstationary impedance control method whose impedance parameters are time-varying. LQI (Linear Quadratic Integral) control method based on time-varying feedback gains is also introduced. By the consideration on setting of the time-varying parameters, control characteristic is smoothly varied without control input saturation. This method increases efficiency of control processes and realizes comfortable work for operators.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callMore From: The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
