Positioning of a Cart by Means of a Smooth Switching from Servo Access Control to Impedance Control
Positioning of a Cart by Means of a Smooth Switching from Servo Access Control to Impedance Control
复制标题
通过从伺服访问控制到阻抗控制的平滑切换来定位小车
DOI：
10.1299/kikaic.70.127
复制
发表时间：
2003
期刊：
影响因子：
--
通讯作者：
S. Hara
中科院分区：
文献类型：
--
作者：
S. Hara
近年来，助力系统技术及其在制造系统、康复和福利服务中的应用引起了人们的特别兴趣。在制造系统领域中，存在利用动力辅助系统的汽车装配过程。许多工业用助力系统仅具有简单的助力功能。受控对象的传送通常由另一系统处理。然而，似乎线性电机等执行器的进步产生了实现这两种功能的单一执行器。考虑到上述期望，本基础研究提出了一种通过从用于输送功能的伺服访问控制到用于助力功能的阻抗控制的平滑切换来实现具有电机的推车的定位方法。我们应用非平稳最优控制方法的思想来获得平滑切换。该控制器采用时变反馈增益的状态反馈形式。实验验证了该方法的有效性。
Power-assist system technology and its applications to manufacturing systems, rehabilitation and welfare services have attracted special interest recently. In the field of manufacturing systems, automobile assembly processes utilizing power-assist systems exist. Many power-assist systems for industrial uses possess simple power-assisting function only. Conveyance of controlled objects is generally processed by another system. However, it seems that the progress of such actuators as linear motors produces single actuator which realizes both the functions. Taking the above expectation into account, this fundamental study proposes a positioning method of a cart with motor by means of a smooth switching from the servo access control for the conveyance function to the impedance control for the power-assisting function. We apply the idea of the nonstationary optimal control method to obtaining the smooth switching. The controller is formulated as a state feedback style utilizing time-varying feedback gains. The effectiveness of the method is verified by experiments.