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.
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