CONTROLLER OF MOBILE ROBOT

A controller for a mobile robot 1 which carries out task of mobbing an object W so as to make a position of a representative point of the object W and a posture of the object follow a desired position trajectory and a desired posture trajectory, in a state where distal portions of arms 7, 7 is made...

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Bibliographic Details
Main Author OHNO NOBUYUKI
Format Patent
LanguageEnglish
Published 21.10.2010
Subjects
CHAMBERS PROVIDED WITH MANIPULATION DEVICES
CONTROLLING
HAND TOOLS
MANIPULATORS
PERFORMING OPERATIONS
PHYSICS
PORTABLE POWER-DRIVEN TOOLS
REGULATING
SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
TRANSPORTING
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Summary:A controller for a mobile robot 1 which carries out task of mobbing an object W so as to make a position of a representative point of the object W and a posture of the object follow a desired position trajectory and a desired posture trajectory, in a state where distal portions of arms 7, 7 is made to contact a portion Wb adjacent to one end of the object W, which variably sets the position of the representative point of the object W in an object coordinate system when the object W is observed in the yaw axis direction, at least in accordance with the change of the desired posture about the yaw axis in the desired posture trajectory. By doing so, movement of the object appropriate for the changing pattern of the desired posture of the object is carried out.
Bibliography:Application Number: US20080747094