Experimental investigation into the basic application of force and position control for human-machine team lifting operations in manufacturing

2021 ◽  
pp. 095440542110213
Author(s):  
William R Longhurst ◽  
Killian Prue ◽  
Bryan Gaither
Keyword(s):  
Material Handling ◽  
Experimental Approach ◽  
Position Control ◽  
Team Behavior ◽  
Control Approach ◽  
Position Errors ◽  
Manual Material Handling ◽  
And Control ◽  
Further Development ◽  
Command Signal

In manual material handling operations associated with manufacturing, often a two-person team lifts a container. The labor intensive task of lifting a container could be improved by replacing the two-person team with a human-machine team. It is hypothesized that a human-machine team could behave similarly to a two-person team when lifting a container. To test this hypothesis, the presented research experimentally investigated the application of force and position control to a machine that was working collaboratively with a human to lift a constructed container. A basic experimental approach to lifting and control was undertaken at a benchtop scale to evaluate the results for proof-of-concept and further development. For the experimental setup presented, the results show that a combined force and position control architecture delivered better lifting performance as compared to standalone force or position control. It was concluded that the combined force and position control strategy created better team behavior for the machine as it worked collaboratively with the human to lift a constructed container. The advantage of the control approach presented is its simplicity and its ability to be retrofitted to existing equipment. The novelty of the control approach lies within the way the force and position errors from independent controllers are combined into a single command signal with no priority given to either force or position.

scholarly journals Manual Material Handling Training: The Effect of Self-Observation, Hetero-Observational and Intrinsic Feedback on Workers’ Knowledge and Behaviour

2020 ◽  
Vol 17 (21) ◽  
pp. 8095
Author(s):  
Anna M. Sene-Mir ◽  
Mariona Portell ◽  
M. Teresa Anguera ◽  
Salvador Chacón-Moscoso
Keyword(s):  
Material Handling ◽  
Ad Hoc ◽  
Industrial Sector ◽  
Knee Joints ◽  
Control Group ◽  
Blue Collar Workers ◽  
Manual Material Handling ◽  
Group Members ◽  
And Control ◽  
Intrinsic Feedback

This study aimed to assess the effect of systematic self-observation, hetero-observational feedback, and feedforward and intrinsic feedback (SsObserWork components) on workers’ knowledge and behaviour of a manual material handling (MMH) technique in the industrial sector. Blue-collar workers recruited from a food processing company in Catalonia (Spain) were randomized into SsObserWork (N = 31) and control (N = 30) groups. SsObserWork group members participated individually in two sessions and a three-week follow-up between sessions where they received the SsObserWork components. The control group participated individually in two sessions where they received a standard MMH training. An ad hoc instrumentcalled the MMH-SsObserWork instrument was used to assess the MMH behaviour, and an adaption of the instrument was done to assess the workers’ knowledge. Significant differences were found between groups for the identification of recommended back positions in the first session and also on comparing both sessions. However, no differences were found for the rest of the criteria. There also were significant differences between groups in the score changes of the back, knee joints, elbow joints, and interaction criterion, indicating that the SsObserWork group improved the MMH performance in these criteria (behaviour). SsObserWork intervention showed a positive effect on improving the knowledge and behaviour of the MMH technique, specifically on back posture.

The Hardware Design of Handling Manipulator in FMS

2011 ◽  
Vol 143-144 ◽  
pp. 913-916
Author(s):  
Xun Mei Han
Keyword(s):  
Flexible Manufacturing ◽  
Flexible Manufacturing Systems ◽  
Manufacturing Systems ◽  
Material Handling ◽  
Hardware Implementation ◽  
Position Control ◽  
Robot Manipulator ◽  
Open Loop ◽  
Process Automation ◽  
And Control

With CAXA software I designed the structure of the handling manipulator in the FMS. And focus for the design of the structure, introduced the hardware implementation of robot manipulator with the same characteristics of stepping away from its open-loop position control. The manipulator is mainly used for flexible manufacturing systems in material handling, flexible movement, safe, reliable, easy to adjust and control, simple operation, easy to implement process automation.

scholarly journals Design and Position Control of Overhang-Type Rail Mover Using Dual BLAC Motor

Energies ◽  
2021 ◽  
Vol 14 (4) ◽  
pp. 1000
Author(s):  
Kiwan Cho ◽  
Dong-Hee Lee
Keyword(s):  
Position Control ◽  
Position Sensor ◽  
Position Information ◽  
Position Errors ◽  
Control Scheme ◽  
Speed Range ◽  
Position Controller ◽  
State Position ◽  
Instantaneous Speed ◽  
And Control

This paper presents the design and position control scheme of an overhang-type rail mover system driven by a dual Brushless AC (BLAC) motor with a simple Hall position sensor inside each motor. The overhang-type roller is chosen to reduce the slip between the roller and rail surface due to gravity. The BLAC motors are used to provide smooth translation along the rail and effective turning. Imbalances on any part of the motor and the simplicity of the Hall position sensor can create additional disturbance load, unsteady movement, and position errors. To reduce the sudden moving position error between the two motors, a balancing compensator with a Proportional-Differential (PD) position controller, which is based on the instantaneous speed and position trajectories, is presented. Furthermore, speed and position reference models are designed to compensate for the low Hall sensor resolution in the low-speed range. Therefore, steady-state position errors can then be regulated simply by using the instantaneous speed and position information. Experiments were performed to verify the viability of the proposed system and control. The results show a significant improvement in roller translation along the rail and stopping position accuracy.

Portable Life Support System: Current Status and Future Perspectives

2020 ◽  
Vol 14 (1) ◽  
pp. 12-28
Author(s):  
Jingang Jiang ◽  
Yihao Chen ◽  
Xuefeng Ma ◽  
Yongde Zhang ◽  
Zhiyuan Huang ◽  
...  
Keyword(s):  
Support System ◽  
Life Support ◽  
Support Systems ◽  
Vital Signs ◽  
Current Status ◽  
Life Support System ◽  
Life Support Systems ◽  
Special Circumstances ◽  
And Control ◽  
Further Development

Background: Portable life support system is used in the battlefield, disaster and in other special circumstances such as in space exploration, and underground survey to give the wounded a life support. The most dangerous period for the injured is the first hour after an injury, which is a crucial time for treatment. If the patient's vital signs were stabilized, more than 40% of the injured could be saved. The staff can efficiently complete the task if they get effective and stable vital signs during the operation. Therefore, in order to reduce the risk of disaster and battlefield mortality to improve operational safety and efficiency, it is necessary to study the portable life support system. Objective: The study aimed to provide an overview of recent portable life support system and its characteristics and design. Methods: This paper introduces the patents and products related to a portable life support system, and its characteristics and application. Results: This paper summarizes five kinds of portable life support systems which are box type, stretcher type, bed type, backpack type and mobile type. Moreover, the characteristics of different portable life support systems are analyzed. The paper expounds the problems of different types of portable life support systems and puts forward improvement methods to solve the problems. Finally, the paper points out the future development of the system. Conclusion: Portable life support system plays an increasingly important role in health care. In terms of the structure, function and control, further development and improvements are needed, along with the research on portable life support system.

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