Title:
全方位移動ロボット
Document Type and Number:
Japanese Patent JP6841062
Kind Code:
B2
Abstract:
PROBLEM TO BE SOLVED: To reduce failure when moving an object.SOLUTION: A path planning device comprises a truck part on which a pair of drive wheels are provided and which is omnidirectionally movable, and a body part on which an arm for gripping an object is provided and which is so provided on the truck part as to be capable of being revolved. The truck part is moved from an initial position to a gripping position, the arm part grips the object at the gripping position, and the truck part is moved to a target position corresponding to a movement position at which the object is moved from the gripping position, thereby planning a movement path of an omnidirectional robot for moving the object. The path planning device plans a movement path which is the movement path from the initial position to the gripping position so that a line passing axles of the pair of drive wheels of the truck part and a line passing the gripping position and the target position are perpendicular to each other at the gripping position.SELECTED DRAWING: Figure 7
Inventors:
Nishino Tamaki
Application Number:
JP2017016679A
Publication Date:
March 10, 2021
Filing Date:
February 01, 2017
Export Citation:
Assignee:
TOYOTA JIDOSHA KABUSHIKI KAISHA
International Classes:
G05D1/02; B25J5/00
Domestic Patent References:
| JP2016049616A | ||||
| JP2009095972A | ||||
| JP2010214544A | ||||
| JP2007319989A |
Attorney, Agent or Firm:
Ken Ieiri