Controller of mobile robot
AssigneeHonda Motor Co., Ltd.
InventorNobuyuki Ohno
Life of this patent
Estimating the term…
Abstract
A controller for a mobile robot 1 which carries out task of mobbing an object W so as to make a position of a representative point of the object W and a posture of the object follow a desired position trajectory and a desired posture trajectory, in a state where distal portions of arms 7, 7 is made to contact a portion Wb adjacent to one end of the object W, which variably sets the position of the representative point of the object W in an object coordinate system when the object W is observed in the yaw axis direction, at least in accordance with the change of the desired posture about the yaw axis in the desired posture trajectory. By doing so, movement of the object appropriate for the changing pattern of the desired posture of the object is carried out.
Claims7
A controller of a mobile robot which performs task of making an object move so as to make a position of a representative point of the object and a posture of the object follow a desired position trajectory and a desired posture trajectory, respectively, in the state of contacting a distal portion of an arm to a predetermined portion adjacent to one end of the object, the controller comprising:
- an object representative point setter which variably sets a position of the representative point of the object, when the object is observed in the yaw axis direction, in an object coordinate system fixed with respect to the object, at least in accordance with a change in the desired posture about the yaw axis in the desired posture trajectory.
Dependencies are inferred from the claim text.