Patent ID: 8442721
Filing Date: 2013-05-14
Classification: B25J,G05B

Abstract:
1. A steering controller for steering a movable robot by driving a plurality of motors, each of which is connected to a wheel, the plurality of wheels being spaced apart from each other in the circumferential direction with respect to an axis of a body of the movable robot, wherein the steering controller comprises an input unit for receiving steering signals including velocities of the movable robot according to the moving directions, an output unit for outputting driving signals including rotational velocities of the motors, and a conversion unit for converting the steering signals to the driving signals, wherein the steering signals include one or more velocities selected from translational velocities in the forward and backward directions, rotational velocities in the left and right directions and rotational velocities in the upward and downward directions with respect to the moving direction of the movable robot, which are inputted by the intuition of an operator, and wherein the steering signals are converted to the driving signals by the following relationship: where where a represents the distance from the center of the movable robot to the center of each wheel, and r is the radius of the wheel.