書誌事項
- タイトル別名
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- An Automatic Basic I/O Gain Tuning System Based on Shaping Control Input Histogram for Human-Machine Systems
- ソウサ ニュウリョクリョウ ヒストグラム ノ ハケイ セイケイ ニ モトズク キホン ニュウシュツリョク ゲイン ノ ジドウ チョウセイ システム
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説明
In this study, a fundamental method to tune a basic input/output gain (BIOG) according to usage conditions is proposed for improving work performance in human-machine systems. For improving operability and workability, an I/O gain tuning is effective, but frequent and drastic changes degrade the operability by confusing the machine dynamics. The proposed tuning system adjusts a BIOG at long intervals on the basis of comprehensive features in operator and work content obtained from histogram of control lever input. The target value is set to the normal distribution, meaning that all ranges of the control lever are evenly used in a spring-type lever, as leveling histogram independent of an operator and work content provides the consistent operational feeling, which leads to comfortable operability. To meet practicality and effectiveness, a BIOG curve is set to a polygonal line involving a break point and a saturation point that are tuned by equivalent transform of area differences between the obtained histogram and normal distribution curves. Results of experiments conducted by using a hydraulic arm system showed that the proposed BIOG tuning system improves time efficiency by reducing the area difference while increasing the subjective usability compared with a conventional fixed BIOG system.
収録刊行物
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- 日本ロボット学会誌
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日本ロボット学会誌 34 (1), 56-64, 2016
一般社団法人 日本ロボット学会
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詳細情報 詳細情報について
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- CRID
- 1390001204727689088
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- NII論文ID
- 130005125734
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- NII書誌ID
- AN00141189
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- ISSN
- 18847145
- 02891824
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- NDL書誌ID
- 027066659
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- 本文言語コード
- ja
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- 資料種別
- journal article
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- データソース種別
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- JaLC
- NDLサーチ
- Crossref
- CiNii Articles
- KAKEN
- OpenAIRE
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- 抄録ライセンスフラグ
- 使用不可
