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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Yamaguchi, K. Takeshige, M. Sato, N. Morita, Y. Ukai, H. Hara, S. |
| Copyright Year | 2012 |
| Description | Author affiliation: Graduate School of Engineering, Nagoya University, Furo-cho, Chikusa-ku, Nagoya, Aichi 464-8603, Japan (Hara, S.) || Department of Computer Science and Engineering, Nagoya Institute of Technology, Furo-cho, Chikusa-ku, Nagoya, Aichi 464-8603, Japan (Takeshige, M.; Sato, N.; Morita, Y.) || Department of Scientific and Engineering Simulation, Nagoya Institute of Technology, Gokiso-cho, Showa-ku, Nagoya, Aichi 466-8555, Japan (Yamaguchi, K.; Ukai, H.) |
| Abstract | This paper proposes an assist-handle for manual conveyance of flexible part and its semi-active operation assist control. The assist-handle consists of a handle, a variable damper and a mechanical spring. The variable damper and the mechanical spring are connected in parallel. The assist-handle can be attached to a general hand cart, through which a human operates the hand cart. In order to suppress the vibration of the flexible part, the operating force is shaped by changing the viscosity of variable damper. Then the shaped force is transmitted to the hand cart through the assist-handle. The controlled system, which consists of the assist-handle, a hand cart and a flexible part, is represented as a bilinear system. The semi-active operation assist control is designed by using the bilinear optimal control theory. The performance index of bilinear optimal control involves the vibration of the flexible part and the control input. The effectiveness of the assist-handle and the semi-active operation assist control is verified by simulations. |
| Starting Page | 82 |
| Ending Page | 86 |
| File Size | 1445499 |
| Page Count | 5 |
| File Format | |
| ISBN | 9781467322478 |
| e-ISBN | 9788993215045 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2012-10-17 |
| Publisher Place | Korea (South) |
| Access Restriction | Subscribed |
| Rights Holder | ICROS |
| Subject Keyword | Viscosity Vibration Control Force Bilinear Optimal Control Theory Human-Machine Collaboration Shock absorbers Operational Support Vibrations Simulation Manual Conveyance Optimal control Acceleration Flexible Part Semi-Active Control |
| Content Type | Text |
| Resource Type | Article |
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