| 摘要 |
PROBLEM TO BE SOLVED: To provide a control method for a moving manipulator reducing the energy consumption when carrying a matter for a long distance. SOLUTION: This control method for the moving manipulator for controlling the manipulator mounted on a moving carriage detects an external force by a force detection part 11, analyses the detected external force 12, calculates a manipulated variable of the moving manipulator from external information 13, and distributes the manipulated variable among the moving body and the manipulator as the manipulated variable of the moving body and/or the manipulator based on the result of the external force analysis 14. COPYRIGHT: (C)2004,JPO
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