仮想ツールダイナミクスに基づくマン・マシン系の制御

Abstract

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. © 1994, The Japan Society of Mechanical Engineers. All rights reserved.