自動搬送モードから半自動整定モードに切り換わる位置決め制御手法

半自動整定モードの提案

抄録

Power assist system technology and its applications to manufacturing systems have attracted special interest recently. However, many power assist systems for industrial uses possess simple power assisting function only. This study takes account of the case that a positioning pattern appears repeatedly. We discuss the combination of an automatic access motion and a manual delicate adjustment for the case. This paper proposes a positioning control method by means of a switching from an automatic traveling mode (ATM) to a semi automatic settling mode (SASM). SASM provides the nominal motion (NM) based on an optimal control method and realizes the power-assist for the manual adjustment of NM. To obtain a smooth switching, this method utilizes a two-degree-of-freedom control system structure which consists of two parts. The first part is the on-line simulator including the nominal motion generator and a nonstationary impedance controller. The other one is an LQI servo controller. The effectiveness of the method is verified experimentally.