抄録
In this paper, the operational support system using 3 DOF joystick is proposed for transfer system on a plane. The 3 DOF joystick enables operator to operate the transfer machine with forth and back, right and left, and rotation motion. And, it has motors for presenting the reaction force on each axis. The motors are controlled by the proposed reaction force control system. The reaction force control system consists of PD control with proportional and devivative gains varying with the distance between the transfer object and the obstacle. The effectiveness of the proposed operational support system is verified by the simulator of the transfer machine on a plane.
