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Power-assist control switching from adaptive nonstationary servo control to force sensorless nonstationary impedance control
http://hdl.handle.net/2237/13907
http://hdl.handle.net/2237/13907c6afcf61-a295-4bf3-b521-3d0a76d2b7bd
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hara.pdf (241.4 kB)
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Item type | 学術雑誌論文 / Journal Article(1) | |||||
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公開日 | 2010-08-02 | |||||
タイトル | ||||||
タイトル | Power-assist control switching from adaptive nonstationary servo control to force sensorless nonstationary impedance control | |||||
言語 | en | |||||
著者 |
Hara, Susumu
× Hara, Susumu× Yamada, Yoji× Suwoong, Lee |
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アクセス権 | ||||||
アクセス権 | open access | |||||
アクセス権URI | http://purl.org/coar/access_right/c_abf2 | |||||
権利 | ||||||
言語 | en | |||||
権利情報 | ©2009 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE. | |||||
抄録 | ||||||
内容記述 | Many power-assist systems for industrial uses possess simple power-assisting function only. The authors studied on the positioning method of a cart using a smooth switching from the servo access control for the conveyance function to the force sensorless impedance control (FSLIC) for the power-assisting function. The nonstationary optimal control method and the nonstationary impedance control law were applied. However, the optimal control method requires the offline calculations for generating time-varying feedback gains. For actual problems including parameter variations, this characteristic is inconvenient. From such a point of view, this study investigates the use of the adaptive nonstationary servo control (ANSSC) technique instead of the optimal control method. Therefore, this paper discusses the control method switching from ANSSC based access to FSLIC based power-assist. The effectiveness of this method is verified experimentally. | |||||
言語 | en | |||||
内容記述タイプ | Abstract | |||||
出版者 | ||||||
言語 | en | |||||
出版者 | IEEE | |||||
言語 | ||||||
言語 | eng | |||||
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資源タイプresource | http://purl.org/coar/resource_type/c_6501 | |||||
タイプ | journal article | |||||
出版タイプ | ||||||
出版タイプ | VoR | |||||
出版タイプResource | http://purl.org/coar/version/c_970fb48d4fbd8a85 | |||||
DOI | ||||||
関連タイプ | isVersionOf | |||||
識別子タイプ | DOI | |||||
関連識別子 | https://doi.org/10.1109/ICIT.2009.4939487 | |||||
ISBN | ||||||
関連タイプ | isPartOf | |||||
識別子タイプ | ISBN | |||||
関連識別子 | 978-1-4244-3506-7 | |||||
書誌情報 |
en : IEEE International Conference on Industrial Technology (ICIT 2009) p. 289-294, 発行日 2009-02-10 |
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application/pdf | ||||||
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値 | publisher | |||||
URI | ||||||
識別子 | http://hdl.handle.net/2237/13907 | |||||
識別子タイプ | HDL | |||||
URI | ||||||
識別子 | http://dx.doi.org/10.1109/ICIT.2009.4939487 | |||||
識別子タイプ | DOI |