| 摘要 |
PROBLEM TO BE SOLVED: To lighten a burden of work on an operator who handles a load object.SOLUTION: A remote handling device 1000 includes a joy stick device 110, a load lifting device 130, and a reaction force control part 100. The joy stick device has a reaction force generation device 116 which generates operation reaction force through a stick 112 for manual operation reception. The reaction force control part includes one or both of a pulse reaction force control part 104 and a deviation reaction force control part 106. The pulse reaction force control part calculates a time change rate component of a dynamic load value of a load object 500, and outputs a reaction force command signal SRF indicative of a reaction command value for generating pulse reaction force. The deviation reaction force control part calculates a deviation quantity component of the dynamic load value from a static load value, and outputs a reaction force command signal SRF indicative of a reaction force command value for generating reaction force. The present invention is applicable to an auxiliary device 1200 added to an existing remote handling device. |
