CONTROL METHOD OF MOBILE CARRIAGE AND MOBILE CARRIAGE

摘要

PPROBLEM TO BE SOLVED: To minimize a shift of a carriage (wheel position) even by application of great external force to a vehicle body for allowing stable position control at a site and improving a boarding ability of a person and a loading ability of an object. PSOLUTION: In this control method of the mobile carriage having wheels driven by a driving means, the vehicle body supported by the wheels, a control means giving a control instruction value to the driving means, and the gravity center positioned above a rotation axis, a control computer 10 estimates external force moments serving as inertia moments around the rotation axis of the wheels 2 and 3 generated by the external force applied to the vehicle body 1, sets an inclination angle, at which a gravity center moment around the rotation axis of the gravity center of the vehicle body 1 balances with the external moment, of the vehicle body 1 as a target vehicle body inclination angle, and based on the target vehicle body inclination angle, calculates a torque instruction value to the motors 4 and 5. PCOPYRIGHT: (C)2007,JPO&INPIT