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Passive Control for a Human Power Amplifier,providing Force Amplification, Guidance and Obstacle Avoidance
Linköping University, Department of Electrical Engineering. Linköping University, The Institute of Technology.
2011 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

In this master thesis a control strategy for a Human Power Amplifier (HPA) ispresented. An HPA can be described as a machine that amplifies a force exertedby a human operator. The HPA in this thesis can best be described as a mechanicalore with two degrees of freedom.The approach for the control strategy presented here is to look at the controlproblem not directly as a force amplifying problem, but as coordination problembetween the real system and a virtual system, where the virtual system is used asa reference. If the systems are synchronized then desired force amplification willnaturally follow from that.Furthermore is the possibility to implement guidance and obstacle avoidanceon the machine investigated. The guidance is performed by using velocity fields,i.e., vector fields where a vector represents the desired velocity for each point inthe plane. For the obstacle avoidance potential fields are used, where the idea isthat a high potential should repel the machine from restricted areas.

Place, publisher, year, edition, pages
2011. , 109 p.
Keyword [en]
Passive Controller, Force Amplification, PVFC, Obstacle Avoidance
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-72768ISRN: LiTH-ISY-EX--11/4531--SEOAI: oai:DiVA.org:liu-72768DiVA: diva2:462327
Subject / course
Automatic Control
Presentation
(Swedish)
Uppsok
Technology
Supervisors
Examiners
Available from: 2012-01-13 Created: 2011-12-06 Last updated: 2012-01-13Bibliographically approved

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Department of Electrical EngineeringThe Institute of Technology
Control Engineering

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CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • oxford
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf