A remote handling apparatus includes a joystick device, a load lifting device and a counterforce controller. The joystick device includes a counterforce generator that generates operation counterforce via a stick that accepts manual operation. The counterforce controller includes a pulsed counterforce controller and/or a deviation counterforce controller. The pulsed counterforce controller calculates a time rate of change of a dynamic load value of the load object, and outputs a counterforce command signal indicating a counterforce command value for generating pulsed counterforce. The deviation counterforce controller calculates a deviation amount of a dynamic load value from a static load value, and outputs a counterforce command signal indicating a counterforce command value for generating a counterforce. Embodiments may be implemented as an auxiliary apparatus, which is attached to an existing remote handling apparatus.
Remote handling apparatus for load object and auxiliary apparatus thereof
16.02.2016
Patent
Elektronische Ressource
Englisch