Automating Manual Control Systems Through Teaching by a Human Operator

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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.