Abstract
Man-machine cooperative systems are widely used in the assembly lines of the industrial fields in order to reduce fatigue of the operator. In this assembly line, two tasks (automatic conveyance and manual operation) are performed by using one system. And there are flexible parts in the assembled parts. For the controller of the system, there are three functions are required. First is switching control for smooth switching form automatic conveyance mode to manual operation mode. Second is to prevent the excitation of the vibration. Third is to suppress the produced vibration in the manual operation mode. Conventionally, we proposed the smooth switching method using an impedance model for the requirements. In this paper, we propose the new method to prevent the excitation of vibration using the notch filter with time varying damping coefficient. And we verify the effectiveness of the proposed method through experiments.
