Title:
MOBILE ROBOT, CONTROL DEVICE THEREOF AND STABILIZATION DISCRIMINATION METHOD
Document Type and Number:
Japanese Patent JP2018034238
Kind Code:
A
Abstract:
PROBLEM TO BE SOLVED: To provide a mobile robot for quickly and stably executing lifting operation of a structure.SOLUTION: A mobile robot 10 comprises a plurality of limb bodies 11 operable within a predetermined range by driving of a motor 26 and a control device 13 for executing driving control of the motor 26. This control device 13 comprises operation setting means 32 for setting target operation of the respective limb bodies 11 when lifting the mobile robot 10 while moving an engaging part of a structure H for engaging with an end effector 21 arranged on the tip side of the limb bodies 11 in the vertical direction. The operation setting means 32 comprises a reaction setting part 39 for setting reaction of the end effector 21 when engaging the structure H so that the mobile robot 10 does not slip down from the structure H, and the mobile robot 10 is formed in a mult-mass point model, and the reaction is calculated so that the total sum M of the moment around a ridgeline L of connecting engaging parts of two places of simultaneously engaging the end effector 21, becomes zero.SELECTED DRAWING: Figure 2
Inventors:
TAKANISHI ATSUO
HASHIMOTO KENJI
HAMAMOTO SHINYA
SUN XIAO
KOIZUMI FUMINORI
SAKAI NOBUAKI
TERAMACHI TOMOTAKA
KIMURA SHUNSUKE
ONO NORIYUKI
HASHIMOTO KENJI
HAMAMOTO SHINYA
SUN XIAO
KOIZUMI FUMINORI
SAKAI NOBUAKI
TERAMACHI TOMOTAKA
KIMURA SHUNSUKE
ONO NORIYUKI
Application Number:
JP2016168789A
Publication Date:
March 08, 2018
Filing Date:
August 31, 2016
Export Citation:
Assignee:
UNIV WASEDA
MITSUBISHI HEAVY IND LTD
MITSUBISHI HEAVY IND LTD
International Classes:
B25J5/00
Attorney, Agent or Firm:
Hidetoshi Enomoto
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