Operational Assistance System for Vibration Suppression and Precise Positioning in Manual Guided Transfer System

This paper contributes an advanced operational assistance system for a manual guided transfer system such as a crane system and a manual guided vehicle. In the manual guided transfer system, it is required to position precisely and quickly by manual operation. However in the transfer system with vibrational elements such as the crane system, it is difficult to position the transfer object by excited the vibration. Therefore, the operational assistance system with both precise positioning and vibration suppression for the manual guided transfer system is proposed in this study. In the manual guided transfer system, the operational force applied to the joystick can be detected by the force sensor located on the base of joystick. The velocity command to the motor for driving the cart is generated based on the detected operational force in the controller. In order to realize the precise positioning and the vibration suppression, the operational assistance system is designed by the virtual resistances and the filtering approach. The effectiveness of the proposed control system is verified by the experiments using the manual guided transfer system with pendulum as vibrational element.