天車是港口及陸上貨櫃運輸的重要裝卸工具，亦廣泛地使用於營建及製造等各種場合來搬運重物。本論文是針對天車系統設計一個操控搖桿觸感回饋。將改裝實驗室現有的三軸平台來模擬實際天車移動。以操作搖桿控制天車移動方向，並可自主調變速度以因應各種作業環境，微調天車於狹小複雜空間執行作業以到達目標位置。比較按鈕式之固定行程控制方式，可達到更精確之定位控制，提升系統方便性以及靈敏性。裝設超音波感測器偵測周圍環境以防範天車及懸吊負載與障礙物發生碰撞，具有碰撞風險時，則產生力回饋警示操作者，極度危險時，系統自主停止動作。若同時內部編碼器讀取懸吊物之角度偏大，則自動調整並增強力回饋。利用超音波的距離資訊以及編碼器的角度資訊做力回饋電壓大小之調配，達到操作者最佳手感控制，提升系統安全性，並可避免因視線死角而導致人為誤操作。
　　文中將天車與吊掛重物，模擬成一個複擺系統，經由Lagrangian法，推導出複擺系統動態方程式。由於實際平台操作空間受限，因此另外利用MATLAB GUI圖形化介面開發三軸天車模擬平台，方便使用者輸入不同介面並在各種不同的狀況下做模擬，提升系統穩定性。

Overhead crane are important loading and unloading equipment for container handling in harbors and land transportation, they are also widely used in construction and manufacturing sites. In practical industries, overhead traveling cranes are usually manipulated by human operator. The transfer object can be freely moved in the three-dimensional space by human operator for various tasks. Although manipulation for the moving direction of crane is easy, the crane’s operation without vibration of the load is difficult for unskilled operators, and therefore the swinging of the object occurs and residual vibration is not only generated after the transfer is reached at a goal point but also hit the obstacle and then made an accident. Therefore, in this paper, a semi-automatic system is proposed in terms of obstacle avoidance by manual operation of human operator and feedback control for suppression of swing by automatic controller. Further, in order to heighten the safety and prevent the human error, the command input to avoid obstacles and go towards a goal is generated by the fusion of human command using joystick and ultrasound detect the environment information. In order to do more kind of statement that can’t achieve in the experiments. Develop a MATLAB GUI 3D platform to let all the people try on it. The effectiveness of the proposed system was demonstrated by simulations and experiments.

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