Toyota Jidosha Kabushiki Kaisha

Kabushiki Kaisha Toyota

Chisao Hayashi

Mitsuo Koide

Takashi Izuo

Yoshito Kato

Koji Yamada

Yasuo Ishiguro

Toshitaka Kuno

Masaru Nakano

Yoshiyuki Senba

Kazutoshi Sukigara

Takuya Serai

Hiroshi Moribe

An inverted pendulum type moving body according to the present invention includes: first actuators that rotationally drive wheels each disposed on an axle; and a turning motion control portion that controls the first actuators when the inverted pendulum type moving body comes into contact with an obstacle so as to allow the inverted pendulum type moving body to perform a turning motion.

Inverted pendulum type moving body and method of controlling the same

To provide an inverted wheel type moving body capable of improving the operability, and a method of controlling the same. An inverted wheel type moving body in accordance with one aspect of the present invention includes motorsandfor rotationally driving a right driving wheeland a left driving wheelrespectively, a passenger seatrotationally supported on mountsandthrough swing armsand, a passenger seat drive motorfor driving the passenger seat, a control portionfor determining whether the manipulation amount exceeds the threshold value or not, and a motor driverfor control the passenger seat drive motorsuch that the passenger seatis moved in accordance with the manipulation amount when the manipulation amount does not exceed the threshold value and the movement of the passenger seatis restored after the manipulation amount exceeds the threshold value.

Inverted wheel type moving body and method of controlling same

This invention is a real-time tracking controller for a standard-path robot that detects a target point in advance, permitting higher-speed work. The robot uses both sensed data and previously taught data to accurately execute its task. Accurate control is obtained using target points corresponding to time intervals. Thus, even if the speed or path is changed during operation, accurate tracing is continuously executed.

Real-time robot control system tracking based on a standard path

A tracking control robot controls its arm end, which holds a tool, to track a taught path so that a reaction force between a workpiece and the tool remains constant. An ideal state for the arm end is determined from the present state of the arm end and the difference between the actual reaction force and a predetermined target force. Then, this ideal state is compared with a reference state of the arm end on the taught path to obtain a target position and a target attitude of the arm end. Since a target position is always determined independently of the last target position, no position error due to time delay affects a new target position even when the next target position is generated before the tool reaches the last target position. Thus, the robot is quick, responsive, and accurate when tracking at a constant operation speed.

Robot with controlled tool tracking displacement

Growing community of inventors

Aichi, Japan

Chisao Hayashi