環境との相互作用が生じるマン・マシン系の制御

Abstract

In a mechanical system, such as a master-slave manipulator systems, a power-steering system, an extender, or a robot system for man-robot cooperation, interactions occur between the system, the operator and the environment. Control of the interactions is one of the key issues for the control of such a system. We discuss the control of mechanical systems with man-machine interactions in this paper. We first model the mechanical system, having interactions with its environment and operator, then propose a control algorithm so that the desired interaction is realized. The proposed control system consists of two controllers: one generates the desired motion of the mechanical system based on the force applied to the system, and the other controls the interaction between the system and the environment. The proposed control algorithm specifies both force augmentation and the dynamic characteristics of the system. The algorithm is applied to a planar manipulator with one degree of freedom and the experimental system illustrates the concept of the system. © 1993, The Japan Society of Mechanical Engineers. All rights reserved.