The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Nov. 21, 2006
Filed:
Sep. 29, 2005
Takuya Noro, Kusatsu, JP;
Takayoshi Akagi, Otsu, JP;
Takuya Noro, Kusatsu, JP;
Takayoshi Akagi, Otsu, JP;
Sanyo Electric Co. Ltd., Osaka, JP;
Abstract
The invention provides an electrically movable vehicle drivable by a simplified mode of control and a control program for driving the vehicle. A normalized value Y' representing translation motion and a normalized value X′ representing turning motion are fed from a command value input unitto a velocity command value calculating unit. The calculating unitdetermines a translation velocity command value Vbased on the normalized value Y′. The calculating unitdetermines a turn angular velocity command value ωthat will always satisfy Expression (2–4) for preventing the vehicle from falling down. The translation velocity command value Vand the turn angular velocity command value ωdetermined by the unitare fed to a control command value calculating unit, which calculates control command values for left and right drive wheels. The control command values are fed to a motor control unitto control motors Mr, Ml and control the drive wheels.