抄録
In recent years, production operations by robots are increasing in the industrial field. However, it is important to ensure the safety of a human-cooperation-robot, because it is at risk for injuring on a human by clashing. Besides, unmanned transport vehicles become popular in the industrial field. Using unmanned transport vehicles as human-cooperation-robots enables transportation of heavy parts and burden reduction. In this study, an omni-directional cart is used as a human-cooperation-robot. The purpose of this study is to develop of disturbance estimation system with disturbance observer in omni-directional cart. Thereby, the external force applied to the cart can be estimated. Then, operating cart appropriate to the external force, the high-security omni-directional cart is developed.
