手動/自動走行モードを有するアクティブキャスタ型全方向移動台車の制御に関する研究

抄録

In recent years, with the declining working population, machines that can cooperate with humans in various industries have been introduced. Among them, there is an increasing demand for automated guided vehicles in the transport of goods in factories. In this study, we developed an omnidirectional cart with automatic and manual modes. This enables direct push-pull operation by disconnecting the electromagnetic clutches. Furthermore, a self-position estimation system was constructed. We have also developed a path following function for any route. A route recording function records the trajectory of the cart in the manual mode as route data. By integrating them, it was possible to automatically drive the route or the reverse route that the person moved by hand. Finally, experiments were performed to evaluate these. From the results of the experiments, it was confirmed that these systems worked properly.