Operational assistance system using 3-DOF joystick with reaction force display to load transfer machine in a plane
Operational assistance system using 3-DOF joystick with reaction force display to load transfer machine in a plane
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DOI：
10.5220/0005026303460352
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发表时间：
2014-09
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影响因子：
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通讯作者：
Tomoya Kuneguchi;Y. Noda;Y. Sago;Kiyoaki Kakihara
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文献类型：
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作者：
Tomoya Kuneguchi;Y. Noda;Y. Sago;Kiyoaki Kakihara
本文研究了一种用于飞机上的搬运机械（如手动搬运车和无垂直搬运的起重机）的操作辅助系统。在搬运机械中，由于操作不当，经常会发生与障碍物的碰撞。因此，为了避免障碍物的转移机，操作辅助系统使用3-DOF（3自由度）操纵杆与反作用力显示提出了在本研究中。3自由度操纵杆使操作员能够操纵传送机进行前后、左右和旋转运动。而且，它有电机，用于在每个轴上呈现反作用力。在该系统中，操纵杆显示的反作用力，其中包括虚拟弹性力和粘性阻力，这是由PD控制增益控制。通过将PD控制中的增益与障碍物和转移对象之间的距离相关联，限制操纵杆操作以避开障碍物。通过三自由度操纵杆操作的搬运机械模拟器的实验，验证了所提出的操作辅助系统的有效性。
This paper is concerned with an operational assistance system to a load transfer machine in a plane such as a manually guided vehicle and a crane without vertical transfer. In the transfer machine, collisions with obstacles are often occurred by the incorrect operations. Therefore, in order to avoid the obstacles to the transfer machine, the operational assistance system using 3-DOF(3 Degree of Freedom) joystick with reaction force display is proposed in this study. The 3-DOF joystick enables operator to manipulate the transfer machine with back-and-forth, left-and-right, and rotation motions. And, it has motors for presenting the reaction force on each axis. In this system, the joystick displays the reaction force which consists of the virtual elastic force and viscosity resistance, which are controlled by PD control gains. By associating the gains in the PD control with the distance between the obstacles and the transfer object, the joystick operation is constrained for avoiding the obstacles. The effectiveness of the proposed operational assistance system is verified by the experiments using the simulator of the transfer machine manipulated by the 3-DOF joystick.