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

概要

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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 k-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.
社団法人電気学会の論文
2008-06-01