Carriage, has control unit to control driving motor of drive wheels, to eliminate amount of slipping determined by detection unit that compares change of amount of propulsion and change of absolute position of carriage

摘要

The carriage (2) has a determining unit to determine an amount of propulsion of drive wheels, and a change of the amount of the propulsion for time units. An absolute position determining unit determines an absolute position of the carriage and a change of the absolute position for each time unit. A detection unit compares the change of the amount of the propulsion and the change of the absolute position, to determine the amount of slipping of the carriage for each time unit. A control unit controls driving motors (6, 7) of the drive wheels, to eliminate the determined amount of slipping. Independent claims are also included for the following: (1) a method for controlling a carriage (2) a carriage system.