Manual control of the two-link arm with a free joint

Hikaru Inooka; Yoshinobu Shito; Kee Ho Yu

Manual control of the two-link arm with a free joint

Hikaru Inooka^*
, Yoshinobu Shito
, Kee Ho Yu

^*Corresponding author for this work

Department of Aerospace Engineering

Tohoku University

Research output: Contribution to journal › Conference article › peer-review

1 Scopus citations

Abstract

The problem-solving ability of a human in manual control is considered. The purpose of the manual control is the positioning of the two-link arm with a free joint. This kind of manipulator receives attentions recently because of its simplicity. The control of the manipulator, however, is difficult because the corresponding motion is governed by a set of nonlinear equations. The experiment of manual control is done by the use of a real-time simulator. A human can find some satisfactory control methods after enough training. These results are interesting from a theoretical point of view; they suggest a possible approach to this difficult control problem theoretically.

Original language	English
Pages (from-to)	2324-2328
Number of pages	5
Journal	Proceedings of the IEEE International Conference on Systems, Man and Cybernetics
Volume	3
State	Published - 1995
Event	Proceedings of the 1995 IEEE International Conference on Systems, Man and Cybernetics. Part 2 (of 5) - Vancouver, BC, Can Duration: 1995.10.22 → 1995.10.25

Cite this

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title = "Manual control of the two-link arm with a free joint",

abstract = "The problem-solving ability of a human in manual control is considered. The purpose of the manual control is the positioning of the two-link arm with a free joint. This kind of manipulator receives attentions recently because of its simplicity. The control of the manipulator, however, is difficult because the corresponding motion is governed by a set of nonlinear equations. The experiment of manual control is done by the use of a real-time simulator. A human can find some satisfactory control methods after enough training. These results are interesting from a theoretical point of view; they suggest a possible approach to this difficult control problem theoretically.",

author = "Hikaru Inooka and Yoshinobu Shito and Yu, \{Kee Ho\}",

year = "1995",

language = "English",

volume = "3",

pages = "2324--2328",

journal = "Proceedings of the IEEE International Conference on Systems, Man and Cybernetics",

issn = "0884-3627",

note = "Proceedings of the 1995 IEEE International Conference on Systems, Man and Cybernetics. Part 2 (of 5) ; Conference date: 22-10-1995 Through 25-10-1995",

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TY - JOUR

T1 - Manual control of the two-link arm with a free joint

AU - Inooka, Hikaru

AU - Shito, Yoshinobu

AU - Yu, Kee Ho

PY - 1995

Y1 - 1995

N2 - The problem-solving ability of a human in manual control is considered. The purpose of the manual control is the positioning of the two-link arm with a free joint. This kind of manipulator receives attentions recently because of its simplicity. The control of the manipulator, however, is difficult because the corresponding motion is governed by a set of nonlinear equations. The experiment of manual control is done by the use of a real-time simulator. A human can find some satisfactory control methods after enough training. These results are interesting from a theoretical point of view; they suggest a possible approach to this difficult control problem theoretically.

AB - The problem-solving ability of a human in manual control is considered. The purpose of the manual control is the positioning of the two-link arm with a free joint. This kind of manipulator receives attentions recently because of its simplicity. The control of the manipulator, however, is difficult because the corresponding motion is governed by a set of nonlinear equations. The experiment of manual control is done by the use of a real-time simulator. A human can find some satisfactory control methods after enough training. These results are interesting from a theoretical point of view; they suggest a possible approach to this difficult control problem theoretically.

UR - https://www.scopus.com/pages/publications/0029482121

M3 - Conference article

AN - SCOPUS:0029482121

SN - 0884-3627

VL - 3

SP - 2324

EP - 2328

JO - Proceedings of the IEEE International Conference on Systems, Man and Cybernetics

JF - Proceedings of the IEEE International Conference on Systems, Man and Cybernetics

T2 - Proceedings of the 1995 IEEE International Conference on Systems, Man and Cybernetics. Part 2 (of 5)

Y2 - 22 October 1995 through 25 October 1995

ER -

Manual control of the two-link arm with a free joint

Abstract

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