1A1-U09 Semi-Active Operation Assist Control for Manual Conveyance of Flexible Parts : Control System Design via Bilinear Optimal Control Theory(MEMS and Nano-Technology)

Abstract

This paper proposes an assist handle for manual conveyance of flexible parts and its semi-active operation assist control. The assist handle consists of a handle, a variable damper and a mechanical spring. The assist handle can be attached to a general hand cart and a human operates the hand cart through the assist handle. The controlled system consisting of the assist handle, a hand cart and a flexible part is represented as a bilinear system. The semi-active operation assist control is designed by using the bilinear optimal control theory. The effectiveness of the assist handle and the semi-active operation assist control are verified by simulations.