| 摘要 |
PROBLEM TO BE SOLVED: To provide a carrier device capable of transporting articles at a shorter period of time.SOLUTION: The carrier device comprises: a traveling carriage movable in a horizontal direction; a travel motor 54 for moving the traveling carriage; a lifting stage movable in a vertical direction along a mast fixed on the traveling carriage; a vibration damping controller 110 which includes a vibration damping filter 112 for filtering a position command value Xa specifying a position of the traveling carriage, and determines a parameter M value to be used for the filtering according to a loading state of the lifting stage; and a travel controller 70 which outputs a first torque command value Tfor driving the travel motor 54 on the basis of a position command value Xb that has been subjected to filtering.SELECTED DRAWING: Figure 2 |
