| 摘要 |
PROBLEM TO BE SOLVED: To provide an article transportation robot which can transport an article in a stable state, a control method for the robot, and program.SOLUTION: An article transportation robot 1 transports an article while locating the article on a carriage 2. The article transportation robot 1 has a weight acquisition unit 153 which acquires weights of plural articles of a transport object, and an arrangement planning unit 155 which plans for arrangement of the articles on the carriage 2. The arrangement planning unit 155 locates a more heavy article among the plural articles at a position near a previously assumed center of rotation in the carriage 2 with respect to other articles, on the basis of the weight acquired by the weight acquisition unit 153.SELECTED DRAWING: Figure 4 |
