Abstract: The present invention concerns a transport load carrier (1) for a baggage handling system, such as a luggage handling system in an airport, said transport load carrier (1) comprising a platform (2) for receiving and accommodating a load. such as one or more items of luggage, a plurality of wheels (6) wherein at least one wheel is selfdriven by drive means, and wherein the orientation of the wheels is adjustable by adjustment means for rotating the load carrier or turning its transport direction with or without rotating the load carrier, and a control unit for controlling the drive means at the at least one wheel and controlling the adjustment means of the wheels for the execution of a load transport task. The invention further concerns a transport system and a method, in particular a baggage handling system, such as a luggage handling system in an airport, comprising a plurality of such transport load carriers.

Abstract: The invention provides a controllable gripper for a robot. A plurality of gripping members, e.g. suction cups, are arranged to engage with a surface of an object to be gripped. The gripping members are arranged in a controllable gripping configuration. A base part is arranged to be moved by a robotic actuator, e.g. a gantry type of robotic actuator. Two or more arms connected to the base part are slidably arranged along their lengths relative to the base part. Each arm has a gripping member at or near its distal end. A controllable actuator system is arranged to control position of the arms in different directions, relative to the base part, thus allowing various gripping configurations to be formed with respect to at least size. Especially, four arms of fixed length, each with a suction cup, may be actuated by one or two electric motors, so a to allow the four suction cups to form various gripping quadrangle sizes.

Abstract: The present invention relates to the measuring of phase currents in an inverter, where by pulse width modulation controlled semiconductor switches invert a direct voltage from an intermediate circuit into a three-phase alternating voltage. The phase currents are measured by measuring the intermediate circuit current when an active switch state creates an unambiguous relation between the intermediate circuit current and a phase current. Time shifts in the phase current measuring can be avoided by measuring the value i.sub.d of the intermediate circuit current in two separate settings (u.sub.1, u.sub.1, u.sub.6, u.sub.6) of the same active switch state (u.sub.1, u.sub.6) in a modulation period (T.sub.sw) and by creating a resulting means value of the measured values. The mean values can be related in time to the center of the modulation period, and the third phase current at the same time can be calculated, because the sum of the phase currents is equal to zero.