| 摘要 |
PROBLEM TO BE SOLVED: To provide a transfer robot provided with a driving part having a high on-board capacity and prevented from causing torsion.SOLUTION: A transfer robot (10) includes: a driving part (2); a body (1) turnably supported on the upper side of the driving part (2); and a harness (6) placed between the driving part (2) and the body (1). The transfer robot (10) includes a torsion determination section (51) and a command speed calculation section (52). The torsion determination section (51) determines whether or not torsion is caused on a harness (6) on the basis of an angle difference (&phgr;) between the body (1) and the driving part (2). The command speed calculation section (52) calculates command speed (v) for turning the body (1) in a direction opposite to the torsion direction when determining that the torsion is caused on the harness (6) and the transfer robot (10) is driven so as to turn back. |
