Title:
全方位移動体、その制御方法及びプログラム
Document Type and Number:
Japanese Patent JP6468127
Kind Code:
B2
Abstract:
PROBLEM TO BE SOLVED: To consider an output performance of an actuator and perform optimal control.SOLUTION: The invention is configured to calculate a motion equation about torques of drive wheels and a pivot containing an inertia term, a centrifugal-force-and-Coriolis term, a viscous friction term and a gravitation term, based on a motion equation about gravitation centers of a truck part and a body part of an omnidirectional mobile body and surrounding of a vertical axis, then calculate a torque limitation condition for limiting torques of the drive wheels and the pivot based on the motion equation and a command trajectory. Then, a speed limitation condition for limiting speeds of the drive wheels and the pivot, is calculated based on the limitation of preset speeds of the drive wheels and the pivot. Then a trajectory parameter of the trajectory satisfying the calculated torque limitation condition and speed limitation condition and following to the command trajectory, and a trajectory on a plane of a differential value thereof are calculated. The omnidirectional mobile body calculates a target value of a positional posture of the body part based on the calculated trajectory, then performs a drive control based on the target value of the positional posture of the body part.SELECTED DRAWING: Figure 3
Inventors:
Koji Terada
Tajima Ryusuke
Tajima Ryusuke
Application Number:
JP2015166860A
Publication Date:
February 13, 2019
Filing Date:
August 26, 2015
Export Citation:
Assignee:
TOYOTA JIDOSHA KABUSHIKI KAISHA
International Classes:
G05D1/02
Domestic Patent References:
| JP2006185438A | ||||
| JP2015011384A | ||||
| JP2014193520A | ||||
| JP2012190405A | ||||
| JP2006202213A | ||||
| JP2000302056A | ||||
| JP2001216026A | ||||
| JP2008204188A |
Foreign References:
| US20080039990 |
Attorney, Agent or Firm:
Ken Ieiri