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Automating Manual Control Systems Through Teaching by a Human Operator

通过操作员的教学实现手动控制系统的自动化

基本信息

批准号：
01550194
负责人：
INOOKA Hikaru
金额：
$ 1.34万
依托单位：
Tohoku University
依托单位国家：
日本
项目类别：
Grant-in-Aid for General Scientific Research (C)
财政年份：
1989
资助国家：
日本
起止时间：
1989 至 1990
项目状态：
已结题

项目摘要

The purpose of this research is to develop systematic procedure to automate manual control systems by real-time playback of a skilled human operator's manipulation stored in a computer. The results of the research are summarized as follows :(1) For the effective use of a human operator's skill, it is crucial to construct a basic control system easy to manipulate. To facilitate the design of such a basic control system, a computer-aided-design (CAD) system based on the method of inequalities has been developed. This CAD system can find appropriate controller parameters satisfying design specifications given by a designer in time and frequency domains. The effectiveness of the CAD system has been validated through numerous design examples.(2) For the control system where a human operator manipulates a joy-stick, the real-time teaching method has been proposed to generate desired control input signals effectively by trial and correction method. A method for partial correction of position and/or velocity has also been proposed to achieve more accurate tracking to a reference trajectory. The effectiveness of the proposed methods has been demonstrated by the experimental studies using a four-degree-of-freedom small robot.(3) The proposed real-time teaching method has successfully been applied for an experimental five-degree-of-freedom system consisting of the four-degree-of-freedom small robot and a one-degree-of-freedom cart. The experimental results show that the proposed teaching method has the potential to automate considerably complex tasks usually performed by skilled human operators.

本研究的目的是开发系统的程序，自动手动控制系统的实时回放存储在计算机中的熟练的人类操作员的操纵。研究结果归纳如下：（1）为了有效地利用人类操作者的技能，构造一个易于操作的基本控制系统是至关重要的。为了便于这种基本控制系统的设计，已经开发了基于不等式方法的计算机辅助设计（CAD）系统。该CAD系统可以在时域和频域中找到满足设计者给出的设计规范的合适的控制器参数。通过大量的设计实例验证了CAD系统的有效性。(2)针对操纵杆控制系统，提出了实时示教方法，通过试校法有效地产生所需的控制输入信号。还提出了一种用于位置和/或速度的部分校正的方法，以实现对参考轨迹的更精确的跟踪。四自由度小型机器人的实验研究表明了所提出方法的有效性。(3)所提出的实时示教方法已成功地应用于由四自由度小型机器人和单自由度小车组成的五自由度实验系统。实验结果表明，所提出的教学方法有可能自动化相当复杂的任务，通常由熟练的人类操作员。