Control device for mobile robot
AssigneeHonda Motor Co., Ltd.
InventorsYutaka Takagi, Chiaki Tanaka
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Abstract
The present invention provides a control device for a mobile robot. While a mobile robot 1 is in a predetermined motion state, if a load evaluation amount, which is either the magnitude of a load detected on a particular joint or an estimated temperature value of a joint actuator for driving the joint, exceeds a predetermined threshold value, then a desired displacement amount of each joint of the mobile robot 1 is determined with a requirement that the load evaluation amount remains to be the threshold value or less, and the joint actuator is controlled on the basis of the determined desired displacement amount.
Claims6
A control device for a mobile robot having a base body, a plurality of joints, a movable link connected to the base body such that the movable link moves with respect to the base body by a motion of one or more joints among the plurality of the joints, and a joint actuator that drives each of the joints, the control device comprising:
- a joint load detecting unit that detects a load on each joint of the mobile robot;
- and
- a joint control unit which determines a desired displacement amount of each joint of the mobile robot that satisfies a requirement that a load evaluation amount remains to be a predetermined threshold value or less in the case where the load evaluation amount, which is either the magnitude of a load detected on a particular joint of the mobile robot by the joint load detecting unit or an estimated temperature value of the joint actuator for driving the joint in a predetermined time obtained based on a detection value of the load, exceeds a predetermined threshold value in a predetermined motion state of the mobile robot, and which controls the joint actuator for driving each joint of the mobile robot based on the desired displacement amount.
Dependencies are inferred from the claim text.