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Operating Feeling Based Design in Human-robot Collaborative Control Systems
Naoki Kanamori* and Kazuo Tanaka**
*Course in Mechanical and Control Engineering, University of Electro-Communications, 1-5-1, Chofugaoka, Chofu, Tokyo, 182-8585 Japan
**Department of Mechanical Engineering and Intelligent Systems, University of Electro-Communications, 1-5-1, Chofugaoka, Chofu, Tokyo, 182-8585 Japan
Received:March 22, 2002Accepted:August 20, 2002Published:December 20, 2002
Keywords:man-machine system, human interface, operating feeling, maneuverability, sensitivity function, complementary sensitivity function, H-infinity norm, mixed sensitivity problem, robust control
The object of this paper is to give a g guide for designing the human-robot collaborative control system attaching importance to maneuverability of the operator. The operative "feel" is quantitatively evaluated using the norm of input-output signal obtained from the sensors during operation. As an example of the human-robot collaborative system, the subjective operative "feel" of the operator is qualitatively analyzed during the sine wave following task using 1-link operation arm. In addition, the control performance of the operator is examined from the viewpoint of H∞ control using the measurement data during the collaborative operation. As a result, it was suggested that the operator executes the given task while adequately reforming the sensitivity function and complementary sensitivity function of the closed loop system of the collaborative system. Use of this method enables design of the control system taking into consideration the operative "feel" of maneuverability.
Cite this article as:N. Kanamori and K. Tanaka, “Operating Feeling Based Design in Human-robot Collaborative Control Systems,” J. Robot. Mechatron., Vol.14 No.6, pp. 604-614, 2002.Data files:
Copyright© 2002 by Fuji Technology Press Ltd. and Japan Society of Mechanical Engineers. All right reserved.