アクティブキャスタ全方向移動台車の操作力センシングとパワーアシスト制御に関する研究

抄録

This paper presents a force sensing system and power assist control for an omnidirectional cart with multiple active-casters. The drive wheel unit which includes differential type active-caster, 2motors, force sensing mechanisms is used to omnidirectional cart to measure the drive torque and force applied by a human operator. The force sensing system can detect force applied at any point on the cart. Based on the force information, the omnidirectional cart is controlled to assist the applied force to realize omnidirectional motion of the cart. The structure and fundamental experiments are presented on this paper.