Abstract
Our novel overhead crane made possible efficient transportation by integrating the automatic transportation and power assisted system. It could transport an object automatically for the long distance transportation, and the operator could assemble the models with high accuracy by direct manipulation. However, malfunction of assistance occurred because it could not discriminate between human force and inertial force during automatic transportation. In this paper, the compensation of inertial force was proposed and implemented at hybrid conveyance system, and the improvement of following capability for the reference trajectory was achieved.
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