| 摘要 |
<p>PROBLEM TO BE SOLVED: To provide a transfer apparatus which allows a user to transport safely by gripping a handle of a movable body, a method of controlling the transfer apparatus and a program for controlling the transfer apparatus.SOLUTION: A transfer apparatus 1 has an actuator 2 which generates a torque to be imparted to a wheel 5 according to the inclination of a handle 6 attached to a carriage 3. A control command computing portion 13 calculates a control command which directs the magnitude of a torque to be generated by the actuator 2 according to the inclination of the handle 6. A resistance force estimation portion 15 detects the torque generated by the actuator 2 and estimates a resistance force which the handle 6 applies to the user by computation using the detected torque and various parameters for the transfer apparatus 1. A control command correction portion 14 creates a corrected control command by reducing the control command, on the basis of the resistance force and a specified gain, and inputs the corrected command to the actuator 2.</p> |
