Positioning Control Method by Means of a Switching from Automatic Traveling Mode to Semi-Automatic Settling Mode (Use of Past Operation Trajectories)
Positioning Control Method by Means of a Switching from Automatic Traveling Mode to Semi-Automatic Settling Mode (Use of Past Operation Trajectories)
复制标题
自动行驶模式切换到半自动稳定模式的定位控制方法（利用过去的运行轨迹）
DOI：
10.1299/kikaic.72.3443
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发表时间：
2006
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，动力辅助系统技术及其在制造系统中的应用引起了人们的极大兴趣。然而，许多用于工业用途的助力系统仅具有简单的助力功能。本研究考虑到的情况下，一个定位模式反复出现。我们讨论的情况下，自动定位运动和手动精细调整的组合。该技术论文论述了一种通过从自动行进模式（ATM）切换到半自动安置模式（SASM）的定位控制方法。SASM基于操作者过去的操作轨迹提供标称运动（NM），并实现用于手动精细调节NM的动力辅助。因此，操作者可以通过重复操作来容易地制作目标轨迹。最后，目标轨迹可以作为自动运动产生。为了获得平滑的切换，该方法利用了两个自由度的控制系统结构。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 positioning motion and a manual delicate adjustment for the case. This technical paper treats 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 past operation trajectories of an operator and realizes the power-assist for the manual delicate adjustment of NM. Therefore, the operator can make objective trajectories easily by repeating the operation. Finally, the objective trajectories can be produced as an automatic motion. To obtain a smooth switching, this method utilizes a two-degree-of-freedom control system structure. The effectiveness of the method is verified experimentally.