Control of robot directly maneuvered by operator

Kazuhiro Kosuge; Yoshio Fujisawa; Toshio Fukuda

doi:10.1109/iros.1993.583078

Control of robot directly maneuvered by operator

Kazuhiro Kosuge
, Yoshio Fujisawa
, Toshio Fukuda

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

47 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 language	English
Title of host publication	1993 International Conference on Intelligent Robots and Systems
Publisher	Publ by IEEE
Pages	49-54
ISBN (Print)	0780308239
DOIs	https://doi.org/10.1109/iros.1993.583078
Publication status	Published - 1993
Externally published	Yes
Event	Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems - Yokohama, Jpn Duration: 26 Jul 1993 → 30 Jul 1993

Conference

Conference	Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems
City	Yokohama, Jpn
Period	26/07/93 → 30/07/93

Bibliographical note

Publication details (e.g. title, author(s), publication statuses and dates) are captured on an “AS IS” and “AS AVAILABLE” basis at the time of record harvesting from the data source. Suggestions for further amendments or supplementary information can be sent to [email protected].

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title = "Control of robot directly maneuvered by operator",

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.",

author = "Kazuhiro Kosuge and Yoshio Fujisawa and Toshio Fukuda",

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language = "English",

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TY - GEN

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AU - Kosuge, Kazuhiro

AU - Fujisawa, Yoshio

AU - Fukuda, Toshio

N1 - Publication details (e.g. title, author(s), publication statuses and dates) are captured on an “AS IS” and “AS AVAILABLE” basis at the time of record harvesting from the data source. Suggestions for further amendments or supplementary information can be sent to [email protected].

PY - 1993

Y1 - 1993

N2 - 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.

AB - 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.

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U2 - 10.1109/iros.1993.583078

DO - 10.1109/iros.1993.583078

M3 - RGC 32 - Refereed conference paper (with host publication)

SN - 0780308239

SP - 49

EP - 54

BT - 1993 International Conference on Intelligent Robots and Systems

PB - Publ by IEEE

T2 - Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems

Y2 - 26 July 1993 through 30 July 1993

ER -

Control of robot directly maneuvered by operator

Abstract

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