MOVABLE CARRIAGE CONTROL DEVICE AND MOVABLE CARRIAGE CONTROL METHOD

摘要

PROBLEM TO BE SOLVED: To provide a movable carriage control device which enables a structure body arranged on a movable carriage to be moved in an arbitrary direction while controlling the structure body to be oriented toward a predetermined direction.;SOLUTION: A control device is for a movable carriage 2 which has: two wheels 10 and 12 which are arranged opposite to each other and fixed to a frame 4; and a structure body 6 which is connected onto an upper section of the frame 4 through a connection mechanism 18 enabling the structure body 6 to rotate in a rotation direction. The control device has: motors 14 and 16 which can independently drive the respective wheels 10 and 12; the motor 20 which can rotationally drive the structure body 6 relative to the frame 4; and structure body orientation measuring means 32 which measures an orientation of a reference direction of the structure body 6 in association with horizontal coordinates. A control mechanism 8: acquires a target structure body direction of the structure body 6 and controls the motor 20 so that the reference direction of the structure body 6 is oriented toward the target structure body direction while moving the movable carriage 2 by driving the motors 14 and 16.;COPYRIGHT: (C)2015,JPO&INPIT