2A1-G19 「自律と操縦に対応した移動ロボット用RTCの開発」第17報 : 操縦システムへの力外乱を抑制するRTCの開発

概要

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In this study, we have developed a force disturbance attenuation RTC control system for a personal mobility robot. Firstly, we have investigated dangerous situations related to the control system based on a risk assessment report, and we have also clarified the necessity of force disturbance attenuation of the control system. Secondly, we have developed an input speed filter RTC which has restricted the input speed of the control device. The effectiveness of the proposed RTC has been demonstrated experimentally by using a wheelchair. Through our application of the RT-Middleware (RTM), the reusability of RTM has been confirmed as an advantage of RTM. In addition, we have argued that the documentation of RTC information is very important in order to improve the reusability of RTM, which is not sufficiently established at this moment.
一般社団法人日本機械学会の論文