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JRM Vol.20 No.4 pp. 578-584
doi: 10.20965/jrm.2008.p0578
(2008)

Paper:

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Constant-Value Control of Joystick Operating Force Using Acoustic System Having Feedback Control System

Taichi Sato*, Yuta Murayama**, and Hiroshi Igarashi***

*Department of Mechanical Engineering, School of Engineering, Tokyo Denki University, 2-2 Kanda-Nishiki-cho, Chiyoda-ku, Tokyo 101-8457, Japan

**Graduate School of Science and Engineering, Intelligent Mechanical Engineering, Tokyo Denki University, Ishizaka, Hatoyama-cho, Hiki-gun, Saitama 355-0394, Japan

***Department of Electronical and Electronic Engineering, Tokyo Denki University, 2-2 Kanda-Nishiki-cho, Chiyoda-ku, Tokyo 101-8457, Japan

Received:
February 25, 2008
Accepted:
March 29, 2008
Published:
August 20, 2008
Creative Commons License
Keywords:
force operating joystick, PI control, acoustic information, control parameter tuning, human adaptive mechatronics (HAM)
Abstract
We have conducted experiments of operating a force operating joystick to the sound. Test subjects listen to white noise with square envelope in a semi anechoic room and joystick operating force is measured. We have seen that time waveform of operating force varies among experiments. Variation in operating force depends on day, test subject, etc. And, we have established an acoustic control system that feedbacks operating force for realizing target value of joystick operating force. We conducted a constant-value control experiment using PI control in which each control parameters’ effects are studied. As a result, among three existing control parameter tuning methods, Cohen-Coon’s control parameter tuning method is the most appropriate for our system.
Cite this article as:
T. Sato, Y. Murayama, and H. Igarashi, “Constant-Value Control of Joystick Operating Force Using Acoustic System Having Feedback Control System,” J. Robot. Mechatron., Vol.20 No.4, pp. 578-584, 2008.
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