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IJAT Vol.3 No.6 pp. 700-708
doi: 10.20965/ijat.2009.p0700
(2009)

Paper:

Assist Control Method Based on Operating Property for Task from Automated Transfer to Manual Positioning of Flexible Parts

Atsushi Ohzawa*, Yoshifumi Morita*, Yosuke Suzuki**,
and Susumu Hara***

*Department of Computer Science & Engineering, Graduate School of Engineering, Nagoya Institute of Technology, Gokiso-cho, Showa-ku, Nagoya, Aichi, Japan

**Denso Corporation, 1-1 Showa-cho, Kariya, Aichi 448-8661, Japan

***Department of Mechanical Science and Engineering, Graduate School of Engineering, Nagoya University, Furo-cho, Chikusa-ku, Nagoya, Aichi, Japan

Received:
May 25, 2009
Accepted:
August 4, 2009
Published:
November 5, 2009
Keywords:
flexible parts conveyance, power-assist system, mode switching, notch filter, assist control
Abstract

Industrial production lines combine both autonomous machinery such as industrial robots and operator-machine cooperative power-assist systems. There are a lot of flexible and large parts among assembly parts, because of the weight saving. In efficient switching among machine- and operator-oriented operation, vibration suppression is an important issue. This paper presents operator-based assist control for task from automated transfer to manual positioning of flexible parts. This involves a mode-switching compensator whose control input is continuous and an input-shaping compensator that suppresses flexible-parts vibration. The input-shaping compensator using a notch filter eliminates the vibration frequency component from the operating force signal. Filter gain is adjusted online based on operating properties. The effectiveness of our proposal is verified from (i) maneuverability based on time-response evaluation and task-achievement time, and (ii) operational feel subjectively evaluated based on questionnaires.

Cite this article as:
A. Ohzawa, Y. Morita, Y. Suzuki, and <. Hara, “Assist Control Method Based on Operating Property for Task from Automated Transfer to Manual Positioning of Flexible Parts,” Int. J. Automation Technol., Vol.3, No.6, pp. 700-708, 2009.
Data files:
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Last updated on Nov. 08, 2019