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 generates a speed command indicating a translational speed and a rotational speed of the body part at predetermined cycles, and a control unit searches for a predetermined number of the speed commands for maintaining a translational speed direction indicated by the speed command of a current step and calculates a speed command whose excess rate is a threshold or less or a speed command 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 wheel axes of the plurality of driving wheels and the pivot axis exceed limitation values when the omnidirectional cart operates in accordance with the speed command of the current step.


    Access

    Download


    Export, share and cite



    Title :

    OMNIDIRECTIONAL CART AND CONTROL METHOD THEREOF


    Contributors:

    Publication date :

    2018-06-14


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    IPC:    B62B Von Hand bewegte Fahrzeuge, z.B. Handkarren oder Kinderwagen , HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS



    OMNIDIRECTIONAL CART AND CONTROL METHOD THEREOF

    TERADA KOJI / HIROSE NORIAKI | European Patent Office | 2018

    Free access

    Omnidirectional Cart Transport Mechanism

    NAKAMURA YOICHIRO / TAKASAKI TORU / WADA YUYA | European Patent Office | 2021

    Free access

    Omnidirectional Cart Transport Mechanism

    NAKAMURA YOICHIRO / TAKASAKI TORU / WADA YUYA | European Patent Office | 2021

    Free access

    CART WHEEL FOR OMNIDIRECTIONAL MONVING AND SHOPPING CART COMPRISING THE SAME

    KIM DONG JU / BAEK DONG IN / KIM JAE HYUN | European Patent Office | 2019

    Free access

    TRANSPORT CART AND CONTROL METHOD THEREOF

    NING RUI / HISATSUGU HIROKI / KATO MANABU | European Patent Office | 2023

    Free access