Motion trajectory generation using updating final-state control

Abstract

Manual motion control (MMC) problems are seen in the conveyance of a large amount of products in factories and stores. One of the most successful examples of MMC is power assist. The power-assisted systems have been introduced to reduce workers' loads in industrial production. In near future, in order to improve its efficiency, the power-assisted systems should include automatic operational modes. This paper discusses an obstacle collision avoidance control system design method for such an automatic operation. Concretely, an existing cart is applied as a controlled object example and it is assumed that the cart moves automatically using the cart's actuator and stops by itself in front of obstacles without any collision. Then, this study applies an improvement of the final-state control (FSC), the updating final-state control (UFSC) to the automatic operation for the obstacle collision avoidance. By using UFSC, the automatic operated cart can decelerate gradually. The responses of the proposed control system are verified by comparing with a model predictive control (MPC) by simulations and an experimental example.