Operation Assist by Vibration Suppression Control Using Impulse‐Shaped Signals for Power Assist Conveyance System |
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| Authors: | Yuichi Yamamoto Masaki Uchida Yoshifumi Morita Susumu Hara |
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| Affiliation: | 1. Nagoya Institute of Technology, Japan;2. Suzuka National College of Technology, Japan;3. Nagoya University, Japan |
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| Abstract: | This paper presents an assist control method for a flexible parts conveyance task using a power assist conveyance system. The assist control method should be designed so as not only to suppress vibration but also to reduce the degradation of operating feel. For this purpose, multiple impulse‐shaped signals are used as feedforward signals in order to reduce the vibration of flexible parts during conveyance. In addition, the adjustment time is introduced to adjust the input timing of the impulse‐shaped signal and to suppress vibration. In order to improve the degradation of operating feel, the smaller amplitudes of the three impulse‐shaped signals are used and input repeatedly. The effectiveness of the proposed system was verified experimentally. © 2013 Wiley Periodicals, Inc. Electr Eng Jpn, 186(2): 31–39, 2014; Published online in Wiley Online Library ( wileyonlinelibrary.com ). DOI 10.1002/eej.22476 |
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| Keywords: | power assist operation assist flexible part conveyance vibration suppression impulse‐shaped input feedforward input |
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