インフラ点検用移動測定機構のパワーアシスト制御のための実験環境構築

抄録

In this study, we have been investigating a cart equipped with an omni-wheel type moving mechanism for ground-penetrating radar surveys. In order to investigate a power-assist control method for a measurement cart in an outdoor environment, an experimental cart was constructed and the behavior of the cart was measured using load cells and acceleration sensors. As a result, it was found that the measurement cart was exert to cyclic forces when the operator pushed it by hands.