Manual control of the two-link arm with a free joint
Manual control of the two-link arm with a free joint
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带自由接头的两连杆臂的手动控制
DOI：
10.1109/icsmc.1995.538128
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发表时间：
1995
期刊：
影响因子：
--
通讯作者：
Kee
中科院分区：
文献类型：
--
作者：
H. Inooka;Y. Shito;Kee
在手动控制的人的解决问题的能力被认为是。手动控制的目的是用自由接头定位双连杆臂。这种机械手由于其简单性而受到关注。然而，机械手的控制是困难的，因为相应的运动是由一组非线性方程。利用实时仿真器进行了手动控制实验。经过足够的训练，人类可以找到一些令人满意的控制方法。这些结果是有趣的，从理论的角度来看，他们提出了一种可能的方法，这个困难的控制问题的理论。
The problem-solving ability of a human in manual control is considered. The purpose of the manual control is the positioning of the two-link arm with a free joint. This kind of manipulator receives attention because of its simplicity. The control of the manipulator, however, is difficult because the corresponding motion is governed by a set of nonlinear equations. The experiment of manual control is done by the use of a real-time simulator. A human can find some satisfactory control methods after enough training. These results are interesting from a theoretical point of view; they suggest a possible approach to this difficult control problem theoretically.