Mechanical system control with man-machine-environment interactions

A mechanical system interacting with the environment and the operator is modeled, and a control algorithm that enables the desired interaction to be realized is proposed. The control system consists of two controllers. One generates the desired motion of the mechanical system based on the force applied to the system, and the other controls the interaction between the system and the environment. The control algorithm specifies both the force augmentation and the maneuverability of the system. The algorithm is applied to a planar manipulator with one degree of freedom to illustrate the concept.<>