| 摘要 |
PURPOSE: A system for controlling traces and attitude of movable robot by using hybrid system is provided, by which a movable robot starts from a desired position and attitude and reaches to a desired position and attitude within the minimum distance by means of control of traces and attitude through a hybrid control considering a restrictive condition of the kinematics of machinery in a robot. CONSTITUTION: A system for controlling traces and attitude of movable robot by using hybrid system, which is constituted to control the respective wheels of a movable robot based on a predetermined control signal, comprises a state information storing device(52) for storing a position information by which an operation state of the movable robot is changed; a dispersive operation control device(60) which calculates a state change position based on a current position information and a reaching position information input by a user and stores it to the state information storing device(52) while calculates a variable of the state in a current position based on the state information applied from a state information determining device(51); a state variable converting device(53) for converting a state variable data applied from the dispersive operation control device(60) to an analog variable; a continuous operation control device(40) which controls the wheels of the movable robot based on the analog variable applied from the state variable converting device(53) and applies a variable changing in response to a moving traces to a state information determining device(51); and a state information determining device(51) which periodically identifies the variables applied from the continuous operation control device(40) and then, if the current position is identical with a state change position stored in the state information storing device(52), applies a state change data to the dispersive operation control device(60).
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