Title:
ROBOT STABILIZATION CONTROL DEVICE
Document Type and Number:
Japanese Patent JP2006150567
Kind Code:
A
Abstract:
To provide a robot stabilization control device capable of reducing the calculation amount when driving an actuator while preventing a truck-moving type robot from overturning, and preventing wasteful consumption of the energy in a manipulator by reducing the operation of the actuator.
A stabilization control device 1 obtains the actual ZMP by a ZMP calculation unit 11 based on the behavior of a robot 4. The ZMP limit value stored in advance as an unstable erected state is compared with the actual ZMP by a ZMP comparison unit 13. A target angle calculation unit 14 sets a target change of ZMP of the robot 4 based on the result of comparison of the actual ZMP with the ZMP limit value.
Inventors:
HIRANO YUTAKA
CHO GYOYU
CHO GYOYU
Application Number:
JP2004348921A
Publication Date:
June 15, 2006
Filing Date:
December 01, 2004
Export Citation:
Assignee:
TOYOTA MOTOR CORP
International Classes:
B25J13/00; B25J5/00
Attorney, Agent or Firm:
Yoshiki Hasegawa
Yoshiki Kuroki
Kazuhiro Ueda
Yoshiki Kuroki
Kazuhiro Ueda
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