Tracking Control Properties of Human-robot Systems
Tracking Control Properties of Human-robot Systems
复制标题
人机系统的跟踪控制特性
DOI：
10.7210/jrsj.18.285
复制
发表时间：
2000
期刊：
影响因子：
--
通讯作者：
M. Kaneko
中科院分区：
文献类型：
--
作者：
T. Tsuji;Takashi Kato;M. Kaneko
人-机器人系统包括人与机器人之间的交互，在设计时应充分考虑人的动态特性和控制能力。为了明确操作人员的控制能力，本文采用阻抗控制机器人对人-机器人系统进行了跟踪试验，分析了不同阻抗值下操作人员的跟踪能力和动态特性的变化。从实验结果中，它表明，人类操作员试图保持整个系统的动态特性尽可能恒定，通过调整他或她自己的阻抗属性。
Human-robot systems including interaction between human operators and robots should be designed with careful consideration for dynamic property and control ability of the human operator. In this paper, tracking tests of the human-robot system using an impedance-controlled robot are performed in order to clarify the control ability of human operators, and changes of the tracking ability and the dynamic property of the human operator are analyzed for different values of the robot impedance. From the experimental results, it is shown that the human operator tries to keep the dynamic property of the overall system as constant as possible by adjusting his or her own impedance property.