客服热线:18202992950

CONTROL DEVICE AND CONTROL SYSTEM FOR MOVABLE BODY 发明申请

2023-06-18 3040 87K 0

专利信息

申请日期 2025-07-12 申请号 JP2017113380
公开(公告)号 JP2018202579A 公开(公告)日 2018-12-27
公开国别 JP 申请人省市代码 全国
申请人 DENSO CORP
简介 PROBLEM TO BE SOLVED : To provide a control device and a control system for a movable body, by which control higher in stability can be achieved. SOLUTION : A reach module 14 outputs a reach control value Cr that, according to the position of a target T acquired by a sensor 11, causes an end effector 2 to reach the target position. An avoidance module 15 outputs an avoidance control value Ca for avoiding collision of the end effector 2 with an obstacle O according to the position of the obstacle O, acquired by the sensor 11. A mixing module 16 calculates a mixing control value Cm according to a reach control value of a reach module 14, an avoidance control value of the avoidance module 15, a weighing value Re of the reach control value, and a weighing value Av of the avoidance control value. When a distance D between the end effector 2 and the obstacle O is equal to a predetermined threshold D0, the mixing module 16 sets the weighing value Av for the avoidance control value within a first allowable range including S, a weighing value Re for the reach control value within a second allowable range, a differential value for the avoidance control value within a third allowable range including 0, and a weighing value for the reach control value within a fourth allowable range including 0. SELECTED DRAWING : Figure 4 COPYRIGHT : (C)2019, JPO&INPIT


您还没有登录,请登录后查看下载地址


反对 0举报 0 收藏 0 打赏 0评论 0
下载排行
网站首页  |  关于我们  |  联系方式  |  使用协议  |  版权隐私  |  网站地图  |  排名推广  |  广告服务  |  积分换礼  |  网站留言  |  RSS订阅  |  违规举报  |  京ICP备2021025988号-4