Patent ID: 8340823
Filing Date: 2012-12-25
Classification: G05D,G06T

Abstract:
1. A controller of a mobile robot configured to control the mobile robot to perform an operation of moving an object such that a position of a representative point of the object and a posture of the object follow a desired position trajectory and a desired posture trajectory while maintaining a distal portion of an arm of the mobile robot in contact with a predetermined portion of the object, the controller comprising: a processor; a desired angular difference value setting means which variably sets a desired value of an angular difference about a yaw axis between a reference direction preset for the object which is a direction orthogonal to the yaw axis of the object and a direction of a moving velocity vector of the representative point of the object defined by the desired position trajectory, wherein the desired angular difference value setting means sets the desired value of the angular difference based on at least a required condition related to a movement mode of the object; and an object representative point setting means which variably sets the position of the representative point of the object in an object coordinate system fixed to the object based on the desired value of the angular difference such that an inertial moment of the object about the yaw axis passing the representative point changes based on the desired value of the angular difference, wherein a desired posture in the desired posture trajectory includes the desired value of the angular difference.