ロボティクス・メカトロニクス講演会講演概要集
Online ISSN : 2424-3124
セッションID: 2A1-E04
会議情報
2A1-E04 マスタースレーブマニピュレータによる柔軟物搬送における操作力整形に基づく操作支援制御 : Input Shapingとノッチフィルタの比較
武重 道大大澤 淳司小倉 佑太山本 優一森田 良文原 進
著者情報
会議録・要旨集 フリー

詳細
抄録
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.
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© 2010 一般社団法人 日本機械学会
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