| Autor: |
Sato, Ryuki, Nishida, Ryuga, Hara, Susumu, Okuda, Hiroyuki, Nagatsuka, Mitsuru, Tsuji, Masahiko, Suzuki, Tatsuya |
| Zdroj: |
IFAC-PapersOnLine; January 2023, Vol. 56 Issue: 2 p1121-1126, 6p |
| Abstrakt: |
In this paper, we propose manual operation control for a force-sensorless power-assisted transport cart used for transportation in a factory. The magnitude and direction of the hand force applied by the operator were estimated according to the cart body sway. Based on the estimated force, the control input not only for the longitudinal but also for turning movements per the operator's intention can be obtained by using the proposed power-assist control algorithm. Our proposed method does not require a force sensor to detect the operator's hand force. Furthermore, the operator can intuitively operate the cart manually by applying hand force from any direction around the cart body. The proposed power-assist control scheme was implemented in a transport cart we developed. The experimental results obtained using the transport cart demonstrate the feasibility of the proposed manual operation control method. |
| Databáze: |
Supplemental Index |
| Externí odkaz: |
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