Method of controlling table angle of transport robot

Abstract

The invention provides a table angle controlling method capable of effectively preventing an article placed on a table (20), for example, from falling off by tilting the table so that the synthetic vector of horizontal acceleration and gravitational acceleration which act on the table acts on the table perpendicular thereto. The method has the steps of measuring the synthetic vector of horizontal acceleration and gravitational acting on the table (20) or a carriage (11) with the movement of the carriage (11), and tilting the table so that the synthetic vector obtained acts on the table perpendicular thereto. Alternatively the method has the steps of estimating acceleration acting on the table from a speed command value input to drive means for the carriage (11) for moving the carriage, calculating the synthetic vector of the estimated horizontal acceleration and gravitational acceleration, and tilting the table so that the synthetic vector obtained acts on the table perpendicular thereto.

Dependencies are inferred from the claim text.