Safe Manual Control of Pendulums - A Human Adaptive Mechatronics Perspective

• 영문명: Safe Manual Control of Pendulums
• 발행기관: 한국과학기술원 인간친화 복지 로봇 시스템 연구센터
• 저자명: K. J. Astrom M. Iwase K. Furuta J. Akesson
• 간행물 정보: 『International Journal of Assistive Robotics and Mechatronics』International Journal of Assistive Robotics and Mechatronics Vol.7 No.1, 3~11쪽, 전체 9쪽
• 주제분류: 공학 > 제어계측공학
• 파일형태: PDF
• 발행일자: 2006.03.01

영문 초록

  Human Adaptive Mechatronics is a research project at Tokyo Denki University sponsored by Ministry of Education, Sports, Culture, Science and Technology (MEXT). Human Adaptive Mechatronics consists of Human and Mechatronics, and aims to develop Mechatronic systems adapting and assisting human operations. This paper explores the interaction of manual and automatic control in a demanding task where the process is unstable and has actuator limitation. The problem is inspired by control of high performance aircrafts but which is similar to controlling the arm of a Furuta pendulum while maintaining the stability of the pendulum.

목차

Abstract
Ⅰ. INTRODUCTION
Ⅱ. THE HUMAN ADAPTIVE MACARONIS PROJECT
Ⅲ. LINEAR SYSTEMS WITH SATURATION
Ⅳ. THE FURUTA PENDULUM
Ⅴ. CONTROL DESIGN
Ⅵ. REGIONS FOR SAFE MANEUVERS
Ⅶ. CONCLUSIONS
REFERENCES

키워드

safe manual control Furuta pendulum critical angle maneuverable region