Method of controlling table angle of transport robot

Details Method of controlling table angle of transport robot Method of controlling table angle of transport robot

2005-02-22

2005-02-22

Chin, Gary (Department: 3661)

Data processing: generic control systems or specific application

Specific application, apparatus or process

Robot control

C700S213000, C700S245000, C700S258000

Reexamination Certificate

active

06859684

ABSTRACT:
A table angle controlling method capable of effectively preventing an article placed on a table (20), from falling off by tilting the table so that the synthetic vector of horizontal acceleration and gravitational acceleration which act on the table acts on the table perpendicular thereto. The method has the steps of measuring the synthetic vector of horizontal acceleration and gravitational acting on the table (20) or a carriage (11) with the movement of the carriage (11), and tilting the table so that the synthetic vector obtained acts on the table perpendicular thereto. Alternatively the method has the steps of estimating acceleration acting on the table from a speed command value input to drive device for the carriage (11) for moving the carriage, calculating the synthetic vector of the estimated horizontal acceleration and gravitational acceleration, and tilting the table so that the synthetic vector obtained acts on the table perpendicular thereto.

REFERENCES:
patent: 4657104 (1987-04-01), Holland
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patent: 5974348 (1999-10-01), Rocks
patent: 6612100 (2003-09-01), Morimoto et al.
Canny et al., A RISC approach to sensing adn manipulation, 1995, Internet, pp. 1-12.

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