发明名称 |
Controller of mobile robot |
摘要 |
A controller of a mobile robot that moves an object such that the position of a representative point of the object and the posture of the object follow a desired position and posture trajectory is provided. The desired posture trajectory of the object includes the desired value of the angular difference about a yaw axis between a reference direction, which is a direction orthogonal to the yaw axis of the object, and the direction of the moving velocity vector of the representative point of the object, defined by the desired position trajectory. The controller has a desired angular difference setting means which variably sets the desired value of the angular difference according to at least a required condition related to a movement mode of the object. This allows the object to be moved at a posture which meets the required condition of the movement mode. |
申请公布号 |
US8340823(B2) |
申请公布日期 |
2012.12.25 |
申请号 |
US20080329056 |
申请日期 |
2008.12.05 |
申请人 |
OHNO NOBUYUKI;HASEGAWA TADAAKI;HONDA MOTOR CO., LTD. |
发明人 |
OHNO NOBUYUKI;HASEGAWA TADAAKI |
分类号 |
B25J9/10;B25J5/00;B62D57/032;G05B19/04 |
主分类号 |
B25J9/10 |
代理机构 |
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代理人 |
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主权项 |
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地址 |
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