Positioning of a Cart by Means of a Smooth Switching from Servo Access Control to Impedance Control

Abstract

Many power-assist systems for industrial uses possess simple power-assisting function only. Conveyance of controlled objects is generally processed by another system. This study proposes a positioning method of a cart with motor by means of a smooth switching from the servo access control for the conveyance function to the impedance control for the power-assisting function. We apply the idea of the nonstationary optimal control method to obtaining the smooth switching. The effectiveness of the method is verified by experiments.