| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To provide an inverted pendulum type mobile carriage furnished with an inertial body free to move in the carriage advancing direction and capable of controlling the inertial body in simple controlling constitution. <P>SOLUTION: This mobile carriage is furnished with an axle C, wheels 12, 13 arranged on the axle C and a car body 10 supported on the axle C free to revolve. This mobile carriage is furnished with the inertial body 11 installed on the car body 10 free to move at least in the carriage advancing direction. The wheels 12, 13 are driven by a first actuator, and the inertial body 11 is driven by a second actuator. The first actuator is controlled so that a position of the carriage is at a target position and the carriage maintains its inverted state. A target value of the inertial body 11 is computed only in accordance with the target position of the carriage, and the second actuator is driven in accordance with the computed target value. <P>COPYRIGHT: (C)2006,JPO&NCIPI</p> |
