抄録
We have proposed an assist control method for flexible parts conveyance using a power assist machine. The proposed assist control is based on variable impedance control. The impedance parameters are identified by applying recursive least square method to the experimental data with good performance. In this paper we investigate the effectiveness of proposed method by analyzing vibration of a flexible part on the strain - strain rate phase plane. Moreover, the effect of inertial force of the power assist machine to the flexible part is analyzed on the phase plane. As a result, the effectiveness of the proposed assist control is verified for flexible parts conveyance.
