Positioning Control Method by Means of a Switching from Automatic Traveling Mode to Semi-Automatic Settling Mode (Proposal of Semi-Automatic Settling Mode)
Positioning Control Method by Means of a Switching from Automatic Traveling Mode to Semi-Automatic Settling Mode (Proposal of Semi-Automatic Settling Mode)
复制标题
自动行走模式切换到半自动稳定模式的定位控制方法（半自动稳定模式的提出）
DOI：
10.1299/kikaic.71.2549
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发表时间：
2005
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
动力辅助系统技术及其在制造系统中的应用最近引起了人们的特别关注。然而，许多工业用途的助力系统仅具有简单的助力功能。本研究考虑了定位模式重复出现的情况。我们讨论了表壳自动存取动作和手动精细调节的结合。本文提出了一种从自动行驶模式（ATM）切换到半自动稳定模式（SASM）的定位控制方法。 SASM基于最优控制方法提供标称运动（NM），并实现对NM手动调节的助力。为了获得平滑切换，该方法采用由两部分组成的二自由度控制系统结构。第一部分是在线模拟器，包括标称运动发生器和非稳态阻抗控制器。另一种是 LQI 伺服控制器。实验验证了该方法的有效性。
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.