Abstract: A forklift includes a vehicle body 30, a fork 22 mounted on the vehicle body, a controller configured to adjust a position and an orientation of the vehicle body, a laser sensor 20 configured to measure distance data from the laser sensor to an object existing in a space set forward of the fork, and a control commander configured to, when the distance data measured by the laser sensor includes a load or a pallet 100 to be lifted, generate track data for moving the vehicle body to a loading position of the load or the pallet based on the distance data, and provide a command to the controller using the generated track data.

Abstract: A mobile apparatus includes a main body, a range sensor, an operation device, and a mobile mechanism. The operation device includes a wide route data generation unit that generates a wide route data according to which the main body is moved from a first specified location to a second specified location, a determination unit that determines a location and a posture of a reference object, an approaching route data generation unit that generates an approaching route data according to which the main body is moved from the second specified location to a target location, and a route data switching unit that switches traveling route from the wide rote data to the approaching route data after the approaching route data is generated. The approaching route data generation unit generates the approaching route data while the main body is traveling according to the generated wide route data.

Abstract: A forklift includes a vehicle body 30, a fork 22 mounted on the vehicle body, a controller configured to adjust a position and an orientation of the vehicle body, a laser sensor 20 configured to measure distance data from the laser sensor to an object existing in a space set forward of the fork, and a control commander configured to, when the distance data measured by the laser sensor includes a load or a pallet 100 to be lifted, generate track data for moving the vehicle body to a loading position of the load or the pallet based on the distance data, and provide a command to the controller using the generated track data.

Abstract: A mobile apparatus includes a main body, a range sensor, an operation device, and a mobile mechanism, The operation device includes a wide route data generation unit that generates a wide route data according to which the main body is moved from a first specified location to a second specified location, a determination unit that determines a location and a posture of a reference object, an approaching route data generation unit that generates an approaching route data according to which the main body is moved from the second specified location to a target location, and a route data switching unit that switches traveling route from the wide rote data to the approaching route data after the approaching route data is generated, The approaching route data generation unit generates the approaching route data while the main body is traveling according to the generated wide route data,

Abstract: 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.

Abstract: A wheeled inverted pendulum mobile unit having: a driving wheel; a body that is tiltable about an axle of the driving wheel with respect to a vertical direction; a plurality of support members that extend downward from the body in the vertical direction, wherein the bottom ends of the plurality of support members are in contact with a ground before and behind the axle of the driving wheel, and the bottom ends moves up and down, with respect to the body, as the body tilts with respect to the vertical direction; and a lock mechanism that locks positions of the bottom ends of the support members with respect to the body.

Abstract: 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 motors 34 and 36 for rotationally driving a right driving wheel 18 and a left driving wheel 20 respectively, a passenger seat 74 rotationally supported on mounts 26 and 28 through swing arms 17 and 19, a passenger seat drive motor 70 for driving the passenger seat 74, a control portion 80 for determining whether the manipulation amount exceeds the threshold value or not, and a motor driver 70a for control the passenger seat drive motor 70 such that the passenger seat 74 is moved in accordance with the manipulation amount when the manipulation amount does not exceed the threshold value and the movement of the passenger seat 74 is restored after the manipulation amount exceeds the threshold value.

Abstract: The vehicle is provided with a body; a pair of right and left wheels; a first motor that drives one of the wheels; a second motor that drives the other one of wheels; a controller for receiving a target current value for the first motor and controlling current of the first motor; a calculator for receiving the target current value and an actual movement amount of the first motor and calculating a disturbance torque loaded on the first motor; an adjuster for adjusting the target current value for the first motor in a basis of the disturbance torque; a controller for receiving a target current value for the second motor and controlling current of the second motor; a calculator for receiving the target current value and an actual movement amount of the second motor and calculating a disturbance torque loaded on the second motor; an adjuster for adjusting the target current value for the second motor in a basis of the disturbance torque.

Abstract: The present invention provides, in connection with a coaxial two-wheeled inverted pendulum type moving vehicle, a technique which allows sudden braking without making a vehicle body to tilt significantly backward. The coaxial two-wheeled inverted pendulum type moving vehicle of the present invention comprises a pair of wheels, a chassis for supporting the pair of wheels coaxially and rotatably, wheel actuators for rotating the wheels with respect to the chassis, a vehicle body supported by the chassis, and an inverted pendulum control unit for controlling the wheel actuators so as to maintain the balanced state of the chassis. In this moving vehicle, the vehicle body is shiftable supported by the chassis in a manner that the vehicle body may shift in a direction parallel to the moving direction of the moving vehicle with respect to the chassis.

Abstract: A wheeled inverted pendulum mobile unit having: a driving wheel; a body that is tiltable about an axle of the driving wheel with respect to a vertical direction; a plurality of support members that extend downward from the body in the vertical direction, wherein the bottom ends of the plurality of support members are in contact with a ground before and behind the axle of the driving wheel, and the bottom ends moves up and down, with respect to the body, as the body tilts with respect to the vertical direction; and a lock mechanism that locks positions of the bottom ends of the support members with respect to the body.

Abstract: 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 motors 34 and 36 for rotationally driving a right driving wheel 18 and a left driving wheel 20 respectively, a passenger seat 74 rotationally supported on mounts 26 and 28 through swing arms 17 and 19, a passenger seat drive motor 70 for driving the passenger seat 74, a control portion 80 for determining whether the manipulation amount exceeds the threshold value or not, and a motor driver 70a for control the passenger seat drive motor 70 such that the passenger seat 74 is moved in accordance with the manipulation amount when the manipulation amount does not exceed the threshold value and the movement of the passenger seat 74 is restored after the manipulation amount exceeds the threshold value.

Abstract: 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.

Abstract: The present invention provides, in connection with a coaxial two-wheeled inverted pendulum type moving vehicle, a technique which allows sudden braking without making a vehicle body to tilt significantly backward. The coaxial two-wheeled inverted pendulum type moving vehicle of the present invention comprises a pair of wheels, a chassis for supporting the pair of wheels coaxially and rotatably, wheel actuators for rotating the wheels with respect to the chassis, a vehicle body supported by the chassis, and an inverted pendulum control unit for controlling the wheel actuators so as to maintain the balanced state of the chassis. In this moving vehicle, the vehicle body is shiftable supported by the chassis in a manner that the vehicle body may shift in a direction parallel to the moving direction of the moving vehicle with respect to the chassis.

Abstract: A force and moment which a manipulator receives from an external environment is detected, and this detected value is multiplied by a gain inversely proportional to a virtual spring constant set by a tool coordinate system, and the product is further converted to a value in each joint coordinate system of the manipulator so as to determine a detection torque. A command value of force and moment is converted to a value in each joint coordinate value of the manipulator in the same way as described above, so as to determine a command torque. A difference between a position command value and a position detection value is multiplied by a virtual spring constant in each joint coordinate system of the manipulator obtained by converting the virtual spring constant, and a differential torque is obtained by converting the aforementioned difference to a force and moment corresponding to the difference.

Abstract: 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.

Abstract: 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.

Abstract: A control system for an industrial robot having a hand which traces a pre-stored standard course defining its position and posture and which has a foresight function. The hand is provided with a tool and a work shape sensor, where the tool and the work shape sensor have a known spatial relationship. The foresight function is realized by a control system comprising temporary storing means for temporarily storing a future position and/or posture data of the tool calculated from a sensed position and/or posture data of the present sensor position. The stored data is output after a delayed time interval when it is compared with a pre-stored standard data. When the difference is small, the data is used to control the future position and/or posture of the hand. When the difference is great, an abnormality process is started.