Title:
移動装置、移動装置の制御方法、及びプログラム
Document Type and Number:
Japanese Patent JP5861651
Kind Code:
B2
Abstract:
PROBLEM TO BE SOLVED: To provide a transfer apparatus which allows a user to transport safely by gripping a handle of a movable body, a method of controlling the transfer apparatus and a program for controlling the transfer apparatus.SOLUTION: A transfer apparatus 1 has an actuator 2 which generates a torque to be imparted to a wheel 5 according to the inclination of a handle 6 attached to a carriage 3. A control command computing portion 13 calculates a control command which directs the magnitude of a torque to be generated by the actuator 2 according to the inclination of the handle 6. A resistance force estimation portion 15 detects the torque generated by the actuator 2 and estimates a resistance force which the handle 6 applies to the user by computation using the detected torque and various parameters for the transfer apparatus 1. A control command correction portion 14 creates a corrected control command by reducing the control command, on the basis of the resistance force and a specified gain, and inputs the corrected command to the actuator 2.
Inventors:
Shuhei Manabe
Yoshinori Inaba
Yoshinori Inaba
Application Number:
JP2013015265A
Publication Date:
February 16, 2016
Filing Date:
January 30, 2013
Export Citation:
Assignee:
TOYOTA JIDOSHA KABUSHIKI KAISHA
International Classes:
B62K3/00; B62B1/00; B62K17/00; G05D1/02
Domestic Patent References:
| JP2012035742A | ||||
| JP2012020739A | ||||
| JP2011051557A | ||||
| JP2008264171A | ||||
| JP2007118807A | ||||
| JP2004278754A |
Attorney, Agent or Firm:
Ken Ieiri