| 摘要 |
PROBLEM TO BE SOLVED: To provide a tumbling preventing method and device for a moving robot, for accurately moving a mobile robot moved linking with a hoist through a wire without useless external force to the mobile robot, and accurately predicting tumbling of the mobile robot to prevent the occurrence of tumbling of the mobile robot. SOLUTION: In this tumbling preventing method of the mobile robot, the upper part of the mobile robot is connected to the lower end part of a wire wound round the hoist running along a running rail installed above the mobile robot to be freely let out and taken up, whereby the mobile robot and the hoist are moved linking with each other through the wire. The mobile robot is moved in bi-axial direction, and the hoist is run in bi-axial direction following the movement of the mobile robot according to a movement detection signal or a movement setting signal of the mobile robot. COPYRIGHT: (C)2004,JPO
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