| 摘要 |
PROBLEM TO BE SOLVED: To reduce effect on an inverted control due to differences of weight and shapes of gripped heavy articles in a carriage robot capable of gripping multiple kinds of heavy articles. SOLUTION: This carriage robot is provided with a carriage 1 to be controlled based on an inverted pendulum type control model, a heavy article gripping device 80 mounted on the carriage 1, and slide mechanisms 100a and 100b for guiding the heavy article gripping device 80 to be slidable and movable in a front and rear direction of a carriage advancing direction in relation to the carriage 1. The heavy article gripping device 80 is slid and moved in the front and rear direction of the carriage advancing direction according to the kind of the gripped heavy article and is positioned at a proper position. COPYRIGHT: (C)2005,JPO&NCIPI
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