2A1-E04 Operational Assist Control Based on Operating Force Shaping in Flexible Parts Conveyance Using Master-Slave Manipulator : Comparison between Input Shaping and Notch Filter

Abstract

In flexible parts conveyance using master-slave manipulators, assist control is necessary to increase the working efficiency. The assist control has been proposed by introducing notch filter to motion control of master-slave manipulators. Vibration excitation is reduced by eliminating vibration frequency from the operating force. However operator feels the delay at the acceleration and deceleration periods. To solve this problem, an assist control method using input shaping technique is proposed. The comparative studies between the notch filter and the input shapper are performed from the standpoints of maneuverability and operation feel.