Control of robot directly maneuvered by operator

Kazuhiro Kosuge, Yoshio Fujisawa, Toshio Fukuda

Research output: Chapter in Book/Report/Conference proceedingConference contribution

43 Citations (Scopus)

Abstract

This paper proposes an alternative control algorithm for the mechanical system which interferes with both an environment and a human operator (man-machine system). The algorithm is designed so as to control the dynamics of the mechanical system to imitate a passive tool dynamics. The proposed control algorithm specifies the human force augmentation ratio and the maneuverability of the system. The stability of the system is guaranteed for the passive environment and the passive human dynamics; the stability of the proposed control system is verified using the Popov's hyperstability theorem.

Original languageEnglish
Title of host publication1993 International Conference on Intelligent Robots and Systems
Editors Anon
PublisherPubl by IEEE
Pages49-54
Number of pages6
ISBN (Print)0780308239
Publication statusPublished - 1993 Dec 1
Externally publishedYes
EventProceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems - Yokohama, Jpn
Duration: 1993 Jul 261993 Jul 30

Publication series

Name1993 International Conference on Intelligent Robots and Systems

Other

OtherProceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems
CityYokohama, Jpn
Period93/7/2693/7/30

ASJC Scopus subject areas

  • Engineering(all)

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