| 摘要 |
PURPOSE:To enhance work efficiency by providing a running cart with a speed reduction mechanism and running wheels for steering driven to rotate in a direction to make a tilt angle of the running cart approach via a connecting shaft and the speed reduction mechanism to a commanded tilt angle. CONSTITUTION:Setting a commanded tilt angle zero during running, a running cart 7 can be controlled to be held always horizontal. Even if the running cart 7 is tilted during running by an external disturbance epsilon, the running cart is controlled to return to horizontal and to make a steering angle thetas equal to -epsilon. Accordingly, the running cart 7 can make a stabilized running while maintaining always its horizontal condition in a curved portion as well as in a straight portion of a tube 6 of a circular cross section. |
