Title :
On parametrization of control systems for human-machine cooperative systems stabilizing their tool dynamics and maneuver transfer functions
Author :
Inaba, Takaaki ; Matsuo, Yoshikazu
Author_Institution :
Tokyo Inst. of Technol., Japan
Abstract :
Parametrization of a general structure of control systems for human-machine cooperative systems stabilizing their tool dynamics and maneuver transfer functions is presented. Based on the parameterization, it is confirmed that the representative control structures of human-machine cooperative systems proposed in past studies are included in this general structure under some conditions, and characteristics and issues of those structures are discussed.
Keywords :
control systems; man-machine systems; transfer functions; control systems parametrization; human-machine cooperative systems; maneuver transfer functions; tool dynamics; Control systems; Cooperative systems; Design methodology; Force measurement; Humans; Man machine systems; Motion control; Motion measurement; Stability; Transfer functions;
Conference_Titel :
SICE 2002. Proceedings of the 41st SICE Annual Conference
Print_ISBN :
0-7803-7631-5
DOI :
10.1109/SICE.2002.1195526
