Title:
REMOTE HANDLING APPARATUS FOR LOAD OBJECT AND AUXILIARY APPARATUS THEREFOR
Document Type and Number:
WIPO Patent Application WO/2015/037029
Kind Code:
A1
Abstract:
The present invention reduces the workload of an operator handling a load object. The remote handling apparatus (1000) is provided with a joystick unit (110), a load-lifting unit (130), and a reaction force control unit (100). The joystick unit (110) comprises a reaction force-generating device (116), which generates an operation reaction force through a stick (112) for accepting manual operations. The reaction force control unit (100) comprises a pulse reaction force control section (104) and/or a deviation reaction force control section (106). The pulse reaction force control section (104) calculates the rate-of-change-over-time component of the dynamic load of a load object (500) and outputs a reaction force command signal (SRF) representing a reaction force command value for generating a pulse reaction force. The deviation reaction force control section (106) calculates the component due to deviation of the dynamic load from the static load and outputs a reaction force command signal (SRF) representing the reaction force command value for generating a reaction force. The present invention can also be implemented as an auxiliary apparatus (1200) to be added to an existing remote handling apparatus.
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Inventors:
OZAKI HIROSHI (JP)
KITANISHI HIROKAZU (JP)
TAKAGI AKIRA (JP)
HIUE HISAAKI (JP)
KITANISHI HIROKAZU (JP)
TAKAGI AKIRA (JP)
HIUE HISAAKI (JP)
Application Number:
PCT/JP2013/005344
Publication Date:
March 19, 2015
Filing Date:
September 10, 2013
Export Citation:
Assignee:
FUJI ELECTRIC CO LTD (JP)
International Classes:
G05D3/12; B25J3/00; G05G5/03; G21C19/18
Foreign References:
| JP2009028893A | 2009-02-12 | |||
| JPH04299714A | 1992-10-22 | |||
| JP2006000977A | 2006-01-05 | |||
| JPH05324076A | 1993-12-07 | |||
| JPH04310381A | 1992-11-02 | |||
| JPH02218566A | 1990-08-31 | |||
| JP2005169561A | 2005-06-30 | |||
| JP2009208170A | 2009-09-17 | |||
| JP2005014132A | 2005-01-20 |
Attorney, Agent or Firm:
MATSUMOTO, YOICHI (JP)
Yoichi Matsumoto (JP)
Yoichi Matsumoto (JP)
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