アクティブキャスタを用いた操作力推定と台車のパワーアシスト走行に関する研究

抄録

In this paper, a mechanism that can estimate operation forces from all directions and power-assisted running in all directions is presented. To enable power-assisted running in all directions, active casters, which are electrically powered versions of normal flexible casters, are used. This has a mechanism in which the wheel and steering axle are controlled by two motors. As for the operation force estimation, it can be obtained from a force gauge connected to the motor output shaft of the active casters. For power-assisted running, the obtained operation force vector is converted to a velocity vector by numerical integration. By converting it into an angular velocity vector, the motor can be commanded. In the verification of the actual machine, operation forces from all directions could be estimated, and power-assisted running in all directions could be realized.