抄録
This paper shows control methods of the smooth switching from vibration reduction when a worker conveys flexible structures to their positioning. One of the important issues in this study is there are no knowledge of the goal position before conveying an object and the terminal time when worker finishes conveying. Then one of sensors can detect the displacement of the object not anytime but only the time when the position is settled. Additionally, an overshoot has to be prevented when there are other objects at the goal position. For clearing up these issues, we applied an adaptive nonstationary control method and showed its effectiveness. And two methods for determining the goal position with limited sensor signals are proposed. For showing the utility of the proposed methods, we conducted four kinds of experiments of positioning a flexible object: 1) only the power assist control, 2) the vibration control with power assist control, 3) the vibration and position control with power assist control and laser sensor, 4) the vibration and position control with power assist control without laser sensor. The results show that the first method is useful for accurate positioning in a short time. The second method does not need an additional sensor used in the first method. However, this method takes a longer time for accurate positioning settling. Adaptive nonstationary control with smooth mode switching is useful when the additional sensor signal is input in the positioning stage only. Then, the results also show that vibration control is important when not only conveying but also positioning because of preventing the overshoot. The proposed methods are useful because it can position any undetermined goal position before conveying.
