著者

鈴木 裕一 鈴木 薪雄 寺嶋 一彦

出版者

一般社団法人 日本機械学会

雑誌

「運動と振動の制御」シンポジウム講演論文集

巻号頁・発行日

vol.2001, pp.452-455, 2001

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This paper is concerned with a human interface between a human operator for decision-making of obstacle avoidance and a crane transferring an object. A semi-automatic control system is proposed in terms of a diffusion equation strategy in order to check and revise the reference trajectory directed by human operator for obstacle avoidance. Moreover, this system includes an optimal servo controller to suppress the sway of the transfer object and to control the cart velocity. The usefulness of the proposed method is demonstrated through experimental studies.