METHOD FOR CONTROLLING MOBILE ROBOT
To provide a technology that uses means different from a positional deviation prevention mechanism to reduce the possibility that a tip of a manipulator may excessively positionally deviate.SOLUTION: A control method includes the steps of: (a) measuring a positional deviation index value associated...
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| Format: | Patent |
| Sprache: | eng ; jpn |
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| Zusammenfassung: | To provide a technology that uses means different from a positional deviation prevention mechanism to reduce the possibility that a tip of a manipulator may excessively positionally deviate.SOLUTION: A control method includes the steps of: (a) measuring a positional deviation index value associated with a positional deviation of a tip of a manipulator by controlling the manipulator to perform a test motion; and (b) setting a limit value for the test motion of the manipulator so that the positional deviation index value does not excess a predetermined threshold.SELECTED DRAWING: Figure 4
【課題】位置ズレ防止機構とは異なる手段を用いて、マニピュレーターの先端部に過大な位置ズレが発生する可能性を低減できる技術を提供する。【解決手段】制御方法は、（ａ）マニピュレーターにテスト動作を行わせて、マニピュレーターの先端部の位置ズレに関連する位置ズレ指標値を測定する工程と、（ｂ）位置ズレ指標値が予め定められた閾値を超えないように、マニピュレーターの動作に制限値を設定する工程と、を含む。【選択図】図４ |
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