| 摘要 |
PURPOSE:To avoid the damage, etc., of an object to be carried by adding a working process after a preparatory process and realizing the fine control of a mobile robot. CONSTITUTION:A push-pull P-P control system for a mobile robot 1 consists of a P-P device 2, a mobile robot drive controller 3, a vehicle traffic controller 4, and a hand controller unit 5. In an automatic operation mode, the commands are delivered from the controller 4 as the command cues for the moving speed, the moving distance and the weight of an object to be carried. The P-P preparatory processes includes the transmission of the arrival signal to the load receiving platform of the robot 1, a waiting state of a minute time, the error processing and the discontinuation of transmission of said arrival signal. Then a P-P working process is started including the selection of contacts, the selection of modes, the execution of the P-P control, the limit interruption, a waiting state of a prescribed time, etc. Thus the fine drive control is given to the fork and the hook of the device 2.
|
