人間行動のハイブリッドシステムモデルに基づいた人間-機械協調型ロボットシステムの切替型制御器設計 Parameter Design of Switched Assist Controller for Man-Machine Cooperative System with Human Behavior Model Based on Hybrid System

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Recently, the demand for man-machine cooperative system is growing in many industrial fields, particularly, in the cell production and the flexible manufacturing systems. In the design of man-machine cooperative system, the characteristics of the human behavior must be considered. This paper presents a new design strategy of a switched assist controller of a man-machine cooperative positioning task considering the human behavior model based on a continuous/discrete hybrid dynamical system. First, the human behavior model is identified as a Piece-Wise ARX model using the <i>k</i>-means clustering and support vector machine. Secondly, the switched assist system is designed as switched impedance controller based on the identified hybrid human behavior model with optimization. The optimization was solved by executing a forward calculation of the closed loop response of the human behavior model and controller with criterion reflecting the task time and the force effort. As the result, we can find the optimal parameters of switched impedance controller.

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  • 電気学会論文誌. D, 産業応用部門誌 = The transactions of the Institute of Electrical Engineers of Japan. D, A publication of Industry Applications Society  

    電気学会論文誌. D, 産業応用部門誌 = The transactions of the Institute of Electrical Engineers of Japan. D, A publication of Industry Applications Society 128(6), 810-818, 2008-06-01 

    The Institute of Electrical Engineers of Japan

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各種コード

  • NII論文ID(NAID)
    10021134603
  • NII書誌ID(NCID)
    AN10012320
  • 本文言語コード
    JPN
  • 資料種別
    ART
  • ISSN
    09136339
  • NDL 記事登録ID
    9532595
  • NDL 雑誌分類
    ZN31(科学技術--電気工学・電気機械工業)
  • NDL 請求記号
    Z16-1608
  • データ提供元
    CJP書誌  CJP引用  NDL  J-STAGE 
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