TY - GEN
T1 - Mechanical system control with man-machine-environment interactions
AU - Kosuge, K.
AU - Fujisawa, J.
AU - Fukuda, T.
PY - 1993/1/1
Y1 - 1993/1/1
N2 - Mechanical systems, such as a robot for man-robot cooperation, a master-slave manipulator system, a power-steering system, an extender etc., have interaction among the system, the operator and the environment. Control of the interaction is one of the key issues for the control of such mechanical systems. The controller design of a mechanical system with man-machine-environment interaction is discussed in this paper. We model the environment and the operator, then propose a control algorithm, so that the desired interaction is realized. The proposed control algorithm specifies both the force augmentation and the maneuverability of the system.
AB - Mechanical systems, such as a robot for man-robot cooperation, a master-slave manipulator system, a power-steering system, an extender etc., have interaction among the system, the operator and the environment. Control of the interaction is one of the key issues for the control of such mechanical systems. The controller design of a mechanical system with man-machine-environment interaction is discussed in this paper. We model the environment and the operator, then propose a control algorithm, so that the desired interaction is realized. The proposed control algorithm specifies both the force augmentation and the maneuverability of the system.
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M3 - Conference contribution
AN - SCOPUS:0027146944
SN - 0818634529
SN - 9780818634529
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 239
EP - 243
BT - Proceedings - IEEE International Conference on Robotics and Automation
PB - Publ by IEEE
T2 - Proceedings of the IEEE International Conference on Robotics and Automation
Y2 - 2 May 1993 through 6 May 1993
ER -