TY - GEN
T1 - Control of mechanical system with man-machine interaction
AU - Kosuge, K.
AU - Fujisawa, Y.
AU - Fukuda, T.
N1 - Publisher Copyright:
© 1992 Institute of Electrical and Electronics Engineers Inc. All rights reserved.
PY - 1992
Y1 - 1992
N2 - The control issue of mechanical systems with mai-machine interactions is discussed in this paper. How to cortrol the interactions among the system, its environment an the human operator, so that the desired interaction is reaized, is the key issue for the control of such a mechanical sysem. A control algorithm for the mechanical system with mai-machine interaction such as a robot system for manrob t cooperation, master-slave manipulator system, powerste4ring system etc. is proposed in this paper. We first mo1el the mechanical system, which has interactions with its environment and an operator, then propose a control algrithm so that the desired interaction is realized. The proposed control system consists of two controllers; one genfrates the desired motion of the system based on the force appied to the mechanical system, and the other one controls the nteraction between the system and its environment. The projiosed control algorithm specifies both force augmentation and maneuverability of the system. The stability of the sys em is also discussed. The algorithm is applied to a pla4ar manipulator with one degree of freedom.The experimental system illustrates the concept of the system.
AB - The control issue of mechanical systems with mai-machine interactions is discussed in this paper. How to cortrol the interactions among the system, its environment an the human operator, so that the desired interaction is reaized, is the key issue for the control of such a mechanical sysem. A control algorithm for the mechanical system with mai-machine interaction such as a robot system for manrob t cooperation, master-slave manipulator system, powerste4ring system etc. is proposed in this paper. We first mo1el the mechanical system, which has interactions with its environment and an operator, then propose a control algrithm so that the desired interaction is realized. The proposed control system consists of two controllers; one genfrates the desired motion of the system based on the force appied to the mechanical system, and the other one controls the nteraction between the system and its environment. The projiosed control algorithm specifies both force augmentation and maneuverability of the system. The stability of the sys em is also discussed. The algorithm is applied to a pla4ar manipulator with one degree of freedom.The experimental system illustrates the concept of the system.
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U2 - 10.1109/IROS.1992.587304
DO - 10.1109/IROS.1992.587304
M3 - Conference contribution
AN - SCOPUS:85012294153
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 87
EP - 92
BT - IROS 1992 - Proceedings of the 1992 IEEE/RSJ International Conference on Intelligent Robots and Systems
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 1992 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 1992
Y2 - 7 July 1992 through 10 July 1992
ER -