Control of Man-Machine System Based on Virtual Tool Dynamics
| Autor: | Toshio Fukuda, Yoshio Fujisawa, Kazuhiro Kosuge |
|---|---|
| Rok vydání: | 1994 |
| Předmět: |
Engineering
business.industry Mechanical Engineering Control (management) Dynamics (mechanics) Stability (learning theory) Control engineering Industrial and Manufacturing Engineering Mechanical system Operator (computer programming) Mechanics of Materials Control theory Man machine Human operator business Simulation |
| Zdroj: | TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C. 60:1337-1343 |
| ISSN: | 1884-8354 0387-5024 |
| DOI: | 10.1299/kikaic.60.1337 |
| Popis: | 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. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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