Estimation of operational force for power-assited system on overhead crane

In recent years, in the manufacturing industry in Japan, an aging of workers is becoming serious problem. Elder workers can not work for a long term, but most of them have skillful ability. For these reasons, the system which can help their physical ability is required. Accordingly, we have proposed a power-assisted system for the overhead travelling crane. In conventional research, we have developed the vertical and horizontal travelling system, but the attitude control system was not completed. In this study, we develop the estimation system of operational force from ground reaction force as the input of the power-assited attitude control system.