Control device for a mobile body, mobile body, method for controlling a mobile body, and control program for a mobile body

The control device stabilizes mobile robot movement by aligning actual wheel movements with intended commands through speed and angle target conversions and correction speed calculations, addressing deviations caused by power transmission losses and friction in active caster systems.

JP2026073670APending Publication Date: 2026-05-01NSK LTD
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Patent Information

Authority / Receiving Office
JP · JP
Patent Type
Applications
Current Assignee / Owner
NSK LTD
Filing Date
2024-10-18
Publication Date
2026-05-01

AI Technical Summary

Technical Problem

Existing mobile robots with active casters face issues due to power transmission losses and friction, leading to deviations between commanded and actual wheel and steering speeds, causing instability and potential mechanical damage, especially during turning operations.

Method used

A control device that acquires speed and angle targets, converts them into appropriate values for drive units, and calculates correction speeds to align actual wheel movements with intended commands, using a combination of sensors and motors to stabilize the turning process.

Benefits of technology

The solution improves the responsiveness of the drive units, reducing disturbances and ensuring stable movement of the mobile robot by aligning actual wheel movements with intended commands, thereby enhancing operational stability.

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Abstract

By improving the responsiveness of the drive unit, the disruption of the movement of the mobile body caused by the reversal of the wheels is reduced, enabling stable movement of the mobile body. [Solution] The mobile robot control device 10 includes a robot speed target value acquisition unit 11 that acquires a first speed target value which is the speed target value of the mobile robot 100; a steering axis angle target value calculation unit 12 that calculates an angle target value for the steering axis 23 of the active caster 20 based on the first speed target value; a steering axis angle detection unit 13 that detects the angle of the steering axis 23; a correction speed calculation unit 14 that calculates a correction speed for the drive unit including the first motor 24 and the second motor 25 that promotes the turning of the wheels based on the angle target value and the detected angle; a speed conversion unit 15 that converts the first speed target value into a second speed target value which is the speed target value for the drive unit; and a synthesis unit 16 that synthesizes the second speed target value and the correction speed.
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Citation Information

Patent Citations

  • Omnidirectional mobile vehicle and its control method

    JP3560403B2

  • Drive wheels and bogies

    JP7198445B2