IEEJ Transactions on Electronics, Information and Systems
Online ISSN : 1348-8155
Print ISSN : 0385-4221
ISSN-L : 0385-4221
<Systems, Instrument, Control>
Operation Assist by Vibration Suppression Control Using Impulse Shaped Signals for Power Assist Type Conveyance System
Yuichi YamamotoMasaki UchidaYoshifumi MoritaSusumu Hara
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2012 Volume 132 Issue 7 Pages 1160-1167

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Abstract

This paper presents an assist control method for flexible parts conveyance task using power assist type conveyance system. The assist control method should be designed so as to not only suppress the vibration but also reduce degradation of operating feel. For this purpose, multiple impulse shaped signals are used as feedforward signals in order to reduce the vibration of flexible parts during conveyance.
In addition, adjustment time is introduced to adjust input timing of impulse shaped signal and to suppress vibration. Moreover, in order to improve the degradation of operating feel, the smaller amplitudes of the three impulse shaped signals are used and input repeatedly. The effectiveness of the proposed system was verified experimentally.

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© 2012 by the Institute of Electrical Engineers of Japan
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