An omnidirectional cart including a cart part including a plurality of driving wheels, a body part attached to the cart part rotatably around a pivot axis, a command generation unit that generates a speed command indicating a translational speed and a rotational speed of the body part at predetermined cycles, and a control unit that searches for a predetermined number of the speed commands for maintaining the direction of the translational speed indicated by the speed command of a current step and calculates a speed command whose excess rate is less or equal to a threshold or whose excess rate is minimum among the predetermined number of the speed commands, the excess rate indicating how much values of torque and angular speeds of driven wheels and the pivot axis exceed axes limitation values when the omnidirectional cart operates in accordance with the speed command of the current step.
OMNIDIRECTIONAL CART AND CONTROL METHOD THEREOF
OMNIDIREKTIONALER WAGEN UND STEUERUNGSVERFAHREN DAFÜR
CHARIOT OMNIDIRECTIONNEL ET SON PROCÉDÉ DE COMMANDE
2018-06-20
Patent
Elektronische Ressource
Englisch
CART WHEEL FOR OMNIDIRECTIONAL MONVING AND SHOPPING CART COMPRISING THE SAME
Europäisches Patentamt | 2019
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