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Network interpretation of a human-machine interaction system
https://doi.org/10.24517/00008087
https://doi.org/10.24517/00008087c37d965c-7dcb-46d3-9348-e71b56170f5e
| 名前 / ファイル | ライセンス | アクション |
|---|---|---|
TE-PR-YAMAMOTO-S-1491.pdf (200.9 kB)
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| Item type | 会議発表論文 / Conference Paper(1) | |||||||
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| 公開日 | 2017-10-03 | |||||||
| タイトル | ||||||||
| タイトル | Network interpretation of a human-machine interaction system | |||||||
| 言語 | ||||||||
| 言語 | eng | |||||||
| 資源タイプ | ||||||||
| 資源タイプ識別子 | http://purl.org/coar/resource_type/c_5794 | |||||||
| 資源タイプ | conference paper | |||||||
| ID登録 | ||||||||
| ID登録 | 10.24517/00008087 | |||||||
| ID登録タイプ | JaLC | |||||||
| 著者 |
Lau, Hon Fai
× Lau, Hon Fai× Yamamoto, Shigeru |
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| 著者別表示 |
山本, 茂
× 山本, 茂
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| 提供者所属 | ||||||||
| 内容記述タイプ | Other | |||||||
| 内容記述 | 金沢大学融合研究域融合科学系 / 金沢大学理工研究域電子情報学系 | |||||||
| 書誌情報 |
Proceedings of 2009 7th Asian Control Conference, ASCC 2009 巻 5276106, p. 1491-1496, 発行日 2009-01-01 |
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| ISBN | ||||||||
| 識別子タイプ | ISBN | |||||||
| 関連識別子 | 978-899560569-1 | |||||||
| 出版者 | ||||||||
| 出版者 | IEEE / ACA | |||||||
| 抄録 | ||||||||
| 内容記述タイプ | Abstract | |||||||
| 内容記述 | This paper discus ses a two-port network interpretation of a human-machine interaction system. Two-port systems are utilized widely in the bilateral teleoperations area, however, most of this large class of interaction control systems consists only of a human and a machine. We will show this human-machine system can be represented in a two-port network system. For the case where there are no force sensors available from the machine when the human is performing tasks, we define a virtual feedback force and virtual input energy in order to formulate a network representation. Stability of the human-machine system is analyzed by utilizing the time domain passivity, and the impedance and the scattering transfer functions with a state space realization in a twoport network. An inverted pendulum system is used to depict a human-machine system for the network representation in the experiment. In the system, the PD controller and the washout controller which are proposed to achieve a superior performance under the stability constraints are examined. Finally, we show the stability constraints can be related to the performance of the inverted pendulum system by monitoring the energy at each port and the maximum singular values of the scattering representation of the network systems in the experiment. ©2009 ACA. | |||||||
| 著者版フラグ | ||||||||
| 出版タイプ | VoR | |||||||
| 出版タイプResource | http://purl.org/coar/version/c_970fb48d4fbd8a85 | |||||||
