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题名: Manual control of inverted pendulum with different input from joystick
作者: Hua JN(化建宁) ; Cui YJ(崔玉洁) ; Shi P(石璞) ; Yang FP(阳方平) ; Wang XZ(王雪竹)
作者部门: 机器人学研究室
会议名称: 2013 9th Asian Control Conference, ASCC 2013
会议日期: June 23-26, 2013
会议地点: Istanbul, Turkey
会议录: 2013 9th Asian Control Conference, ASCC 2013
会议录出版者: IEEE Computer Society
会议录出版地: Washington, United States
出版日期: 2013
页码: 1-6
收录类别: CPCI(ISTP) ; EI
ISBN号: 9781467357692
关键词: Application programming interfaces (API) ; Man machine systems ; Manual control ; Pendulums ; Runge Kutta methods ; Virtual reality
摘要: The cognitive behavior of human operators in human-machine system has long served as a compelling target for control theory. For this purpose, extensive research effort has been focused on the manual control of inverted pendulum, from which cognitive and motor behavior can be obtained. However, much less attention has been paid to the effect on this experimental platform with different input, e.g. force, velocity, and position input. With the intention to provide more interactive form between human operators and electromechanical systems, this manuscript gives a comparative study on a virtual pendulum system which is built based on OpenGL when different commands are provided with a joystick. All forms of dynamical models have been obtained though mathematical manipulation. In order to obtain more realistic effect, dynamical models are solved with Runge-kutta method. A joystick interface enables operators to control the pendulum manually, providing a fun experience. This study establishes the foundation for further research on cognitive behavior of human operators in human-machine interaction systems and neural control systems. © 2013 IEEE.
产权排序: 2
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/13920
Appears in Collections:机器人学研究室_会议论文

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