Control of Man-Machine System Based on Virtual Tool Dynamics

Kazuhiro Kosuge, Yoshio Fujisawa, Toshio Fukuda

Research output: Contribution to journalArticlepeer-review

9 Citations (Scopus)

Abstract

In this paper, we propose an altrenative control algorithm for the man-macine system. The man-machine system consists of a mechanical system and a human to operate the system. The system involves interaction between the environment and mechanical system and the interaction between the human operator and the mechanical system. When we design the controller for a man-machine system, it is desirable that we simultaneously specify human force augmentation ratio and maneuverability of the mechanical system. We design the controller for the man-machine system so that the system mimics the dynamics of the tool. Virtual tool dynamics is used to simulate tool dynamics. Intuitively, we know that the tool can amplify human force and it is stable when humans use it for tasks interacting with the envient. The stability of the system is guaranteed for a environment and a passive operator.

Original languageEnglish
Pages (from-to)1337-1343
Number of pages7
Journaltransactions of the japan society of mechanical engineers series c
Volume60
Issue number572
DOIs
Publication statusPublished - 1994
Externally publishedYes

Keywords

  • Control
  • Man-Machine System
  • Passive Environment
  • Passive Operator
  • Virtual Tool Dynamics

ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering

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