Abstract
In order to reduce physical burden of workers on conveying and mounting works in industries, power assist devices have been introduced. In many conventional power assist devices, controlled objects are assumed as rigid bodies. The vibration control technique for handling flexible structures has not been fully addressed yet. This paper presents an effective vibration control method for conveying mechanical structures with power assist. In this study, the power assist is realized by an impedance control method. If the impedance characteristics of the power assisted object are perfectly controlled by the impedance control, the impedance characteristics are known and correspond to the dynamic characteristics of the disturbance for the vibration control. Then, this study adopts the disturbance accommodated LQ optimal control method for the vibration control problem. A cart with a one-degree-of-freedom vibration system is selected as a controlled object example. The effectiveness of the proposed method is verified by simulations.
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