抄録
In this study, we have developed a force disturbance attenuation RTC control system for a personal mobility robot. Firstly, we have investigated dangerous situations related to the control system based on a risk assessment report, and we have also clarified the necessity of force disturbance attenuation of the control system. Secondly, we have developed an input speed filter RTC which has restricted the input speed of the control device. The effectiveness of the proposed RTC has been demonstrated experimentally by using a wheelchair. Through our application of the RT-Middleware (RTM), the reusability of RTM has been confirmed as an advantage of RTM. In addition, we have argued that the documentation of RTC information is very important in order to improve the reusability of RTM, which is not sufficiently established at this moment.
