| 摘要 |
PURPOSE:To detect precisely the position of a self-traveling robot by forming absolute encoders for detecting the absolute rotational positions of traveling wheels corresponding to the position of a traveling car body on a traveling course. CONSTITUTION:The self-traveling robot consisting of the traveling car body 21 having traveling wheels 30, 31 to be rotated by driving devices 34, 35, a robot arm mechanism 22 arranged on the traveling car body and detectors 38, 39 for detecting the dislocation of the traveling car body 21 from the traveling course previously fixed on a traveling load is provided with the absolute encoders 45, 46 for detecting the absolute rotational positions of the traveling wheels 30, 31 corresponding to the position of the traveling car body 21 on the traveling course. Since the rotational quantity of the motor for driving the traveling wheels can be detected by the absolute encoders 45, 46, the position of the robot can be precisely detected by the rotational quantity of the driving motor and the traveling course of the traveling car body 21 in any position on the traveling course.
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