Smooth switching control for transfer from the Automatic Traveling Mode to the Power Assist Mode of the Skill-Assist

The objective of this study is to verify a smooth switching control method for transfer from the automatic traveling mode (ATM) to the power assist mode (PAM) of Skill-Assist. A control law including time-varying impedance parameters is utilized to attain the objective. The experimental result shows that the transfer from ATM to PAM was successfully performed by the smooth switching control method. © 2007 Institute of Electrical Engineers of Japan. Published by John Wiley & Sons, Inc.

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