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Method of controlling table angle of transport robot

  • US 6,859,684 B2
  • Filed: 06/17/2003
  • Issued: 02/22/2005
  • Est. Priority Date: 06/18/2002
  • Status: Expired due to Fees
First Claim
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1. A method for controlling a table angle of a transport robot comprising a self-propelled carriage and a table provided on the carriage and tiltable forward or rearward, leftward or rightward for placing an article thereon,the table angle controlling method being characterized in that the table is tilted so that the synthetic vector of horizontal and gravitational accelerations acting on the table or the carriage with the movement of the carriage acts on the table perpendicular thereto;

  • and using a controller for calculating a combined acceleration of the acceleration observed by an acceleration sensor and gravitational acceleration, calculating the amount of drive of the table tilting mechanism so that the combined acceleration in the direction of advance of the carriage on the table and acceleration in a direction orthogonal to a direction of advance on the table reduces, and tilting the table.

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