Positioning Control Method by Means of a Switching from Automatic Traveling Mode to Semi-Automatic Settling Mode (Use of Past Operation Trajectories)

Abstract

Power-assist system technology and its applications to manufacturing systems have attracted special interest recently. However, many power-assist systems for industrial uses possess simple power-assisting function only. This study takes account of the case that a positioning pattern appears repeatedly. We discuss the combination of an automatic positioning motion and a manual delicate adjustment for the case. This technical paper treats a positioning control method by means of a switching from an automatic traveling mode (ATM) to a semi-automatic settling mode (SASM). SASM provides the nominal motion (NM) based on past operation trajectories of an operator and realizes the power-assist for the manual delicate adjustment of NM. Therefore, the operator can make objective trajectories easily by repeating the operation. Finally, the objective trajectories can be produced as an automatic motion. To obtain a smooth switching, this method utilizes a two-degree-of-freedom control system structure. The effectiveness of the method is verified experimentally.