注湯プロセスにおける熟練技能を実現する自動注湯ロボットのスーパーバイザリ制御

抄録

This paper gives the advanced control of automatic pouring process, with special attention paid to the realization of the expert's skill in pouring process. First, in order to realize the expert's skill, the novel Automatic Pouring Robot (APR) is developed and the dynamics of the pouring process is clarified. Second, the pouring model is constructed. In addition to the sloshing control by Hybrid shape approach and multi-axes synchronized control, the APR is controlled by the supervisory control system that reasonably swiches the controllers designed by H_∞ control theory to control the liquid level in a sprue cup and model predictive control to control the outflow from the ladle. Finally, the effectiveness of the proposed system is shown through simulations and experiments.