人間を考慮したパワーアシスト装置のシミュレーション(機械力学,計測,自動制御)

概要

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A power assist system is operated by a human operator, so it is very important to consider the human element in the control loop. In order to evaluate the performance of power assist system at the design process, usage of the simulation, which includes the human factor, is quite effective. In this study simulation of industrial arm type power assist system is developed for system design. The mathematical model consists of an AC motor model, a link model, and a controller that inclues a human model to operate the power assist system by operating force. The human model consists of the feedback control and feedforward control that consisted of an inverse system of the power assist system. The human model's inverse system learns using a neural network. The feasibility of the simulation was demonstrated in comparison with measurement results from operating force and acceleration.
社団法人日本機械学会の論文
2009-04-25