| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To provide a method for controlling turn of a traveling robot capable of preventing burn of a driving motor even when the traveling robot in small size and weight cannot turn during turning. <P>SOLUTION: For turning the traveling robot 1 having four wheels 3 that are placed at front, rear, right, and left of a vehicle body 2, the driving motor 4 that individually drives the wheels 3, a motor controller 5 that individually controls the driving motor 4, and a control circuit 10 that calculates each turning speed of the wheels 3 based on an operation command from a remote control device A or an autonomous control system B to give a speed command to the motor controller 5, the control circuit 10 outputs a servo off command to the motor controller 5 to release an excessive current state of the driving motor 4 at the time of completion of an ultra pivotal turning command output from the remote control device A or the autonomous control system B, and then a servo on command is output to the motor controller 5 during the next command signal cycle to apply current to the driving motor 4. <P>COPYRIGHT: (C)2009,JPO&INPIT</p> |
