To provide a boom operation system capable of presenting a reaction force to an operation lever on the basis of an actually operated force.SOLUTION: A boom operation system S comprises: operation levers 51-54 that are tilted by an operation force; a boom 14 that is driven at a speed corresponding to the tilting angle of each of the operation levers 51-54; a force detector 55 that detects a force applied to a tip of the boom 14; a force controller 40c that calculates an angle or mechanical impedance on the basis of the force detected by the force detector 55; an angle/torque controller 40d that calculates an angle or torque on the basis of the calculated angle or mechanical impedance; and reaction force presentation devices 71-74 that present the calculated angle or torque to the operation levers 51-54.SELECTED DRAWING: Figure 1

    【課題】実際に作用する力に基づいて操作レバーに反力を提示することのできる、ブームの操作システムを提供する。【解決手段】ブームの操作システムSは、操作力によって傾倒される操作レバー51〜54と、操作レバー51〜54の傾倒角度に応じた速度で駆動されるブーム14と、ブーム14の先端に作用する力を検出する力検出器55と、力検出器55によって検出された力に基づいて、角度、又は機械インピーダンスを演算する力制御器40cと、演算された角度、又は機械インピーダンスに基づいて、角度又はトルクを演算する角度・トルク制御器40dと、操作力に加算して、演算された角度又はトルクを操作レバー51〜54に提示する反力提示器71〜74と、を備えている。【選択図】図1


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    Title :

    BOOM OPERATION SYSTEM


    Additional title:

    ブームの操作システム


    Contributors:

    Publication date :

    2021-03-18


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    B66C Krane , CRANES / G05G CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY , Steuer- oder Regelvorrichtungen oder Steuer- oder Regelsysteme gekennzeichnet ausschließlich durch mechanische Einzelheiten



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