To provide a motor controller that makes it possible to suppress impact produced when an enclosure lands and increase the operation patterns of the enclosure and a rolling robot equipped with this motor controller.
An arithmetic-logic unit includes a rotational speed transducer that computes the rotational speed of a main motor based on the result of detection by a rotation angle detecting means for detecting the rotation angle of the main motor. An operation amount computation unit 50 includes: an inclination angle computing means 53 that computes the inclination angle of an enclosure based on the result of detection by an angular speed sensor for detecting the angular speed of the enclosure; an inclination angle setting means 54 that computes an output signal corresponding to an inclination angle deviation based on a signal of inclination angle deviation between the present inclination angle of the enclosure and a target inclination angle set on a target value setting unit; and a means 56 for setting rotational speed corresponding to rotational speed deviation based on a signal of rotational speed deviation between the present rotational speed of the main motor and a target rotational speed set on a target value setting unit.
KASAI SHU
Tadashi Takahashi
Takashi Watanabe
Suzuki Mitsuyoshi
Kazuya Nishi
Yasuhiko Murayama