Title:
CONTROL DEVICE FOR LINK TYPE MOBILE ROBOT
Document Type and Number:
Japanese Patent JP3168066
Kind Code:
B2
Abstract:
PURPOSE: To perform conveyance of a cargo even when there is a difference in a step by a method wherein a target value of the posture of a robot is set, based on the target value, a target operation amount of an actuator is decided, the actuator is driven so that an operation amount is adjusted to a target value, and a cargo is conveyable.
CONSTITUTION: In a two-feet walking robot, a roof carrier 28 is arranged on the upper surface of a casing 24, and a cargo 30 is nipped thereby for conveyance. The presence of ground touching of feet parts 22R and 22L, the magnitude of a force of addition to support legs, and information on a direction are inputted to a control unit 26 from a six-axial tension sensor 36, inclination information on the casing 24 is inputted thereto from an inclination sensor 40, and an encoder signal is inputted thereto from an electric motor for joints 10R-20L to calculate a posture target value of the robot and an operation amount of the electric motor to achieve the posture target value. Based on the operation amount, an electric motor for the joints 10R-20L is driven.
Inventors:
Nobuaki Ozawa
Application Number:
JP13626092A
Publication Date:
May 21, 2001
Filing Date:
April 28, 1992
Export Citation:
Assignee:
Honda motor industry stock company
International Classes:
B62D57/032; G05B19/18; B25J5/00; G05D1/02; G05D1/08; (IPC1-7): B25J5/00
Domestic Patent References:
| JP23581A |
Attorney, Agent or Firm:
Yutaka Yoshida (1 person outside)