Patent ID: 8688307
Filing Date: 2014-04-01
Classification: B25J,G05B,G05D

Abstract:
1. A mobile apparatus equipped with a control device, which moves autonomously by the control device controlling the operation thereof according to a target position trajectory indicating a temporal changing pattern of the target position, the control device comprising: a first control processing element which determines whether or not a first moving condition in which the mobile apparatus is capable of moving according to a current target position trajectory without being obstructed by an object, is satisfied, and when it is determined that the first moving condition is not satisfied, determines whether or not a second moving condition in which the mobile apparatus is capable of moving according to the current target position trajectory without being obstructed by the object by a displacement of the object according to a first pattern, is satisfied, and also determines whether or not the object belongs to a second classification in which the object is movable by acting of a force from the mobile apparatus; and a second control processing element which controls the operation of the mobile apparatus so as to move according to the target position trajectory, when it is determined by the first control processing element that the first moving condition is satisfied, and controls the operation of the mobile apparatus so as to move the object according to the first pattern, and so as to return to the current target position trajectory according to need, when it is determined by the first control processing element that the second moving condition is satisfied and at the same time that the object belongs to the second classification.