Title:
CONTROL METHOD FOR OMNIDIRECTIONAL MOBILE VEHICLE
Document Type and Number:
Japanese Patent JPS62280906
Kind Code:
A
Abstract:
PURPOSE:To easily shift a vehicle in the direction of an upper limit or that of a lower limit without the reverse rotation of a wheel by permitting an angle command to have some blind sector indifferent to a direction command, and preventing the angle command from changing even if the direction command fluctuates a little around the upper limit or the lower limit in a steering angle range. CONSTITUTION:Obtainable angle commands thetas are dispersed in 180 deg., 135 deg., 90 deg., 45 deg., 0 deg., -45 deg., -90 deg. and -135 deg.. Therefore the shift directions of the vehicle are limited to eight directions as mentioned. If the direction command thetaJ is -95 deg., it is discriminated -112.5 deg.--67.5 deg., and the angle command thetas of -90 deg. is obtained, and further, this angle command thetas is discriminated below -90 deg.. Then, it is converted to the angle command thetas of 90 deg., and the reverse rotation direction command Mtheta can be obtained. Consequently, steering motors 8-11 set the directions of the wheels 2, 3, 6 and 7 at 90 deg., and running motors 2 and 3 rotate and drive reversely, whereby the truck main body 1 shifts to almost the direction of -90 deg. which the crew expects.
Inventors:
TANAKA KENICHI
Application Number:
JP12362586A
Publication Date:
December 05, 1987
Filing Date:
May 30, 1986
Export Citation:
Assignee:
AGENCY IND SCIENCE TECHN
International Classes:
B62D1/28; G05D1/02; B62D6/00; B62D113/00; (IPC1-7): G05D1/02