MOBILE ROBOT, ITS AUTOMATIC COUPLING METHOD, AND DRIVE CONTROL METHOD FOR PARALLEL LINK MECHANISM

摘要

PROBLEM TO BE SOLVED: To provide a mobile robot and its automatic coupling method capable of generating coupling with an object to be handled upon performing positional alignment without requiring any particular devising and a reform to the coupling part on the side of the object (part to be coupled) in order to absorb dislocation, and to provide a drive control method for a parallel link mechanism suitable for the automatic coupling method.;SOLUTION: The mobile robot 10 is equipped with a robot body 12, a coupling mechanism 20 having a movable region, a distance information acquiring device 17 to acquire distance information, and a computation control device 18 to make computational control in order to generate coupling with the object to be handled 1. From the distance information acquired by the device 17, the computation control device 18 acknowledges a marker 8 arranged in a position fixed to the object 1 and calculates position coordinates of the marker 8, and the device 8 controls the drive of the robot body 12 and the coupling mechanism 20 so that the coupling part 40 of the coupling mechanism 20 is coupled with the part to be coupled (grasping part 2 etc. of a carriage 1A) of the object 1.;COPYRIGHT: (C)2009,JPO&INPIT