Proceedings of the Japan Joint Automatic Control Conference
THE 59TH JAPAN JOINT AUTOMATIC CONTROL CONFERENCE
Session ID : FrB4-5
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Development of Electric Tiller with Active Operation-Assist-Control
*W. KatoT. TadaT. NakazawaT. MiyazakiK. Ohishi
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CONFERENCE PROCEEDINGS FREE ACCESS

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Abstract

It is considered to be easy to operate the electric tiller by controlling the velocity and torque of the driving wheels. The purpose of this study is to develop an electric tiller to perform operation-assist-control to the operator. By controlling the driving wheels considering the slip ratio from the relationship between the driving wheel velocity and the vehicle velocity, the electric tiller to straight driven. The velocity data is used in order to control the electric tiller are estimated from acceleration data and position data. Moreover, performing the intention estimation of the operator using the value of the force sensor attached to a handle. The usefulness of proposed control method is confirmed by simulation results.

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© 2016 The Japan Society of Mechanical Engineers
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