Tham khảo tài liệu 'contemporary robotics - challenges and solutions part 12', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | Output Feedback Adaptive Controller Model for Perceptual Motor Control Dynamics of Human 321 Fig. 5. Perceptual Motor Control Model Fig. 6. Experimental Equipment 322 CONTEMPORARY ROBOTICS - Challenges and Solutions 4. Experiments shows the experimental equipment. An indicator shows the target position which is driven by AC motor 1 and an operator controls a handle to follow the indicator. AC motor 2 is assembled in order to generate the assisting torque for human while it performs as load inertia for human in this stage. Mechanical System From the experimental results of automatic positioning control the transfer function of the one-link arm mechanism involving AC motor 2 Gp s was estimated as follows. GP s - 4213 s s 1 30 Human Dynamics model Through the experimental results the parameters of human dynamics model are estimated such that 3 p - s - T2 - s respectively Saito and Nagasaki 2002 . Perceptual Motor Control Model In this case the controlled system from a side of the output feedback controller which is the above-mentioned series of three elements are given as follow. Gi s - 4213 s s 1 1 2 31 Because it has a relative order as 4 and minimum phase characteristics PFC F s in is constructed based on Theorem 1 as follows F s - ĩ1s 1 s a 2 r1s 1 s a 350s 6s s 1 s 2 s 1 s 32 Results of Experiment and simulation Experimental results for the target position r t 30 degree are shown as and . And and also shows the simulation results for the variance of design parameter g in Eq. 13 . For the variance of design parameter of PFC we can obtain the simulation results shown in and 12. In the simulation the other parameters in Eq. 6 are given as k 0 0 CT- g - - . Although there exists some fluctuation in the experimental results obtained for 3 testers we can recognize that the both responses are very similar. Because by comparing between and the overshoots are .
