WO1997036217A1

WO1997036217A1 - Method and apparatus for controlling operation of moving mechanism

Info

Publication number: WO1997036217A1
Application number: PCT/JP1996/000757
Authority: WO
Inventors: Norihisa Miyake; Toshihiro Aono; Kenjiro Fujii; Yuji Matsuda; Shintaro Hatsumoto; Takayuki Kamiya; Kazuo Kobayashi
Original assignee: Hitachi, Ltd.
Priority date: 1996-03-22
Filing date: 1996-03-22
Publication date: 1997-10-02

Abstract

A method of, and an apparatus for, smoothly controlling the operation of a moving mechanism, particularly a wheeled one, along a target route. The deviation of the moving mechanism from the target route is calculated, and an operation quantity for controlling the operation of the moving mechanism is decided on the basis of the calculation and a target speed. A steering angle is determined by using this operation quantity and the operation of the moving mechanism is controlled. Because the operation control is executed by using the steering angle in accordance with the deviation from the target route and the target speed, the smooth operation of the moving mechanism can be insured by a simple method.

Description

Harm

Operation control method and device for moving mechanism

Technical field

The present invention relates to an operation control method of a moving mechanism, and more particularly to a method and apparatus for smoothly controlling an operation along a target path in a wheel moving type moving mechanism. Background art

Various control methods have been proposed for conventional moving mechanisms, especially for vehicle-shaped moving robots. However, the basic control is to set the target position mane at every moment on the motion path, and to control the positioning of the return movement mechanism with respect to the set position. Such an operation control method is widely used not only for mobile robots but also for multi-articulated robots and manipulators. As described above, the method of sequentially repeating the positioning with respect to the target position s group (hereinafter, abbreviated as a point group) set every moment is as follows. Considering an arbitrary path, the path is broken. This corresponds to approximation and includes the possibility that the contact direction of the path changes for each target position. In particular, in the case of a wheel-type moving mechanism, smooth operation cannot be realized only by making the tangential direction of the moving path of the moving mechanism continuous when operating at a constant speed. For example, when transitioning from a straight line to an arc that touches the straight line, it is theoretically necessary to instantaneously change the steering angle, making it impossible to actually perform such an operation.

As described above, in the control method of the moving mechanism, the target command method of how to generate and command the target route, and the moving mechanism main body for the given command position g group. It is necessary to consider two types of operation control methods, which are operated every moment and follow a given target path. In the conventional method, the target route As a command method, a method that cannot guarantee the continuity of the kneading direction itself is used, and the operation control is performed by setting a point cloud on the road as an instantaneous eye position. Therefore, there is a problem that smooth operation cannot be realized. Various methods have been proposed to solve the above problems. First, there is a method in which the target route itself is commanded in such a manner that the rate of change in the kneading direction and the tangential direction is continuous. For example, Robotics Research Transactions, Vol. 3, pp. 334-340, published by M.I.T. Press, Kanayama and Miyake, "Trajectory * Generation, Fo Movinore Robot. J j (γ. Anayama, N, Hiyake: Trajectory Generation for Mobile Robots, Robotics Research 3, pp334-340, MIT Press, 1986) contains a moving mechanism using clothoid kneading (Clothoid). An example is shown in which the movement is smoothed by instructing the path of the vehicle.This cloth kneading is performed as a trajectory when the speed of change of the steering angle is constant in a vehicle moving at a constant speed. It is also used for curves of expressways, etc. However, the above-mentioned method has a difficult point S that requires convergence calculation in order to plan a route. Mobile device There is room for improvement in cases where the target movement position changes depending on the work or situation, as in the case of a structure, and the route planning must be performed each time. No. 6 3 18 proposes a method that operates in one direction of the plane and in a different direction-> female, and generates an operation pattern for each direction as a time-zono function. In this method, a trajectory that is reasonable for the moving mechanism is generated for each independent variable in the two-dimensional plane without considering the generation of the operation path itself accurately. Which is not suitable for accurately describing the path that is the target of the movement as a straight line or a curve on a two-dimensional plane. It is.

Apart from this, there have been many trials on the idea of aiming for smooth operation by a method of operation control. However, they can be said to fall into the range I »of the method of repeating positioning sequentially for the point cloud on the target route. For example, in Japanese Patent Application Laid-Open No. 5-1973243, an operation amount is determined in accordance with a target point set on a route, and an operation amount is corrected based on a difference between a route direction and a moving direction. A method has been proposed to control the movement of the moving mechanism. Also, a method of determining the correction amount by fuzzy rules or the like is shown. Further, Japanese Patent Application Laid-Open No. H2-159904 proposes a method in which a traveling route is regarded as a series of circular arcs, and a target position is set so as to follow the traveling route, and the vehicle is run again. Disclosure of the invention

As described above, the method of generating a route that can perform an essentially smooth operation as a target route command method involves a problem in terms of calculation for the route generation and the like. . Also, in general, it is unavoidable that an error occurs in the actual movement position fi and attitude of the moving mechanism with respect to a given route, but the method of correcting this difference and following the target route is as follows. It can be said that smooth operation cannot be realized only with the target route generation and command method.

As for the method of operation control, as typified by the above-described methods, a method is used in which a target position is continually set on a target path, and the operation is determined and controlled for this position. . However, this concept is a method of controlling the position and orientation of a path given by a line such as a straight line or a curve, that is, a point on the line sequentially as a target point, and controlling the movement between these points. It does not consider the relationship between sections. This is It can be said that this is also the reason for the need for improvement and ingenuity as shown in each invention. Japanese Unexamined Patent Publication Nos. Hei 1-25-2904, Japanese Patent Laying-Open Nos. 2-259904, Hei 4-270402, etc. use a sensor to determine a target trajectory and an actual vehicle position. It can be said that the present invention relates to a method of controlling the operation by correcting the difference between the two. However, these also have the same problem as the above, basically in that the eye position is set every moment.

The present invention has been made in view of this point in terms of SB, and an object of the present invention is to easily realize a method of controlling the operation of a moving mechanism along an eyeball path given by a straight line or a curve. It is to provide a way to do it. When such control is performed, it is necessary to accurately grasp the kinematic characteristics and dynamic characteristics of the moving mechanism itself, but this is generally difficult in many cases. Even if it is possible, it is unavoidable that the characteristics change over time, and there are many practical problems. Another object of the present invention is to realize stable control that does not depend on these characteristics.

The purpose of the above is to change the concept of giving the point of view fi, and the attitude at every moment in the conventional motion control method, i.e., to give the actual position of the moving mechanism to the target route, that is, the line itself. This is achieved by considering the amount of deviation from B and determining the amount of operation for controlling the operation of the moving mechanism based on this. In other words, instead of giving the instantaneous target position, the operation amount is obtained based on the distance to the target route, that is, the length of the perpendicular drawn from the current actual position to the route. This is a method of controlling the operation of the moving mechanism in the decreasing direction.

The basic technology for motion control is position servo control technology. Therefore, for example, in position control in a two-dimensional plane, for example, a moving mechanism having two degrees of freedom is used, and each of them is subjected to position servo control. In the moving mechanism composed of X axis and Y, each axis is set to the target position, At the "point". Therefore, the moving mechanism operates to converge to the target point by the position servo control for each degree of freedom. On the other hand, in the present invention, control is performed so as to realize an operation of converging the moving mechanism as a whole with respect to a target path, that is, a target “line”. In this case, the way of convergence in the direction orthogonal to this route is determined by the distance from the target route, and the control operation according to the original operation speed is performed in the tangential direction of the route. Therefore, the direction of the control operation changes in accordance with the change in the tangential direction of the target route, and the control operation does not depend on the degree of freedom of the moving mechanism itself. In other words, this is a method that can be called linear servo with respect to position servo. According to this method, the control works so as to always converge on the target path, and as a result, an operation of being drawn to the target path by the restoring force is realized. Therefore, it is not suitable to specify and control the trajectory itself as a mathematical expression when performing this operation, but it is possible to realize a very natural and smooth operation.

In particular, in the case of a wheel-type moving mechanism, the two variables that can be directly controlled to operate the three variables of the in-plane position (two variables) and the attitude as the operation result of the moving mechanism are the moving speed and the steering angle. Since the mechanism has a so-called nonholonomic constraint, this control method is extremely effective. The idea of a nonholonomic mechanism has begun to attract attention in recent years (eg, The Robotics Society of Japan »Vol. 1, Vol. 4, pp. 4148). In addition, the present invention is applicable not only to this type of moving mechanism but also to general mobile devices such as mobile phones. Even if it is difficult to accurately grasp the kinematics and dynamic characteristics of the moving mechanism itself, by constructing a servo control system for the path, stable control that does not depend on these characteristics can be realized. What is possible is also a feature of the present invention. BRIEF DESCRIPTION OF THE FIGURES

FIG. 1 is an example of a wheel-type mobile robot to which the present invention is applied, FIG. 2 is a specific example of a control system of the mobile robot shown in FIG. 1, and FIG. 3 is an operation control method according to the present invention. FIG. 4 is a block diagram showing an example of a control device for realizing the operation control method of the present invention. FIG. 5 is a block diagram of a steering angle control system as one embodiment of the present invention. FIG. 6 is a diagram for explaining a method of setting a transfer route of a moving mechanism, FIG. 7 is a diagram for explaining another embodiment of the present invention, and FIG. 8 is a surface image obtained by a visual sensor. This is an example. BEST MODE FOR CARRYING OUT THE INVENTION

FIG. 1 shows an example of a moving mechanism to which the embodiment of the present invention is applied. In the wheel-type moving mechanism 1, one pair of the four wheels and two wheels 101 and 102 are steered wheels for steering. The present invention is not limited to this type of movement mechanism, but also includes a three-wheel transfer mechanism having only one steerable wheel, or a six-wheel transfer mechanism that performs symmetrical steering in front and rear, The present invention can be applied to various moving mechanisms such as a moving mechanism in which a pair of two driving wheels are independently driven to control a posture and a moving direction. In addition, it is essentially applicable to controlling the position and posture of the hand, such as manipulators and robot arms.

FIG. 2 shows an outline of the control system of the moving mechanism shown in FIG. The position and orientation of the moving mechanism itself are determined by the wheel rotation position detectors 101 and 102 set on the wheels 101 and 102 of the moving mechanism 1, and mounted on the moving mechanism 1. It is detected by the loaded optical fiber gyro 105 (details not shown). That is, by accumulating the wheel position signals from the wheel position fi detectors 1011 and 1021 at minute time intervals and the vehicle body posture information signal from the optical fiber gyro 105, the movement mechanism in the plane is accumulated. 1 position and And posture (the direction the car is facing) is recognized. Here, a sensor that detects the rotational speed may be used instead of the rotational position of the wheel. In addition, it is needless to say that the posture of the vehicle body can be detected even with a gyro other than the optical fiber gyro mouth. Then, it can be obtained by calculating this. As described above, the method of obtaining the position and attitude with respect to the ground using only the detector mounted on the moving mechanism itself is a known method called Dead Recogning. In the present embodiment, the dead reckoning process is performed by the computer 20, and as a result, the estimated position and orientation of the moving mechanism 1 are obtained. The computer 20 describes the target path as, for example, a plurality of segmented guns, generates motion path information corresponding to the current section, and uses the relationship between the estimated position and posture of the moving mechanism 1. The control of the steering angle corresponding to the operation direction and the control of the amount of stepping on the accelerator corresponding to the operation speed are performed based on the method of the present invention described later.

The command value of the operating direction is given to the operating direction adjusting mechanism servo control system 30.First, the steering mechanism 302 is driven via the servo controller 310, and the actual actual operating direction is detected as the operating direction. It is detected by the servo unit 303 and fed back to the servo width unit 301. Here, the movement direction refers to the direction of contact of the actual movement trajectory of the moving mechanism 1. Therefore, it should be noted that the steering angle is different from the steering angle.

The instruction of the operation speed is given to the operation speed adjustment mechanism servo control system 40. First, the speed adjustment mechanism 402 is destroyed through the servo width control 401, and the speed adjustment mechanism position detection is performed. The actual position is detected by 03 and fed back to the servo amplifier 401. Here, the speed adjusting mechanism 402 can be the accelerator pedal itself or the throttle of the engine. It may be a control mechanism. Such a mechanism is not necessary in the case of an electric-efficiency moving mechanism, and the operating speed command to the operating speed adjusting mechanism servo control system 40 is considered to correspond to the pressure supplied to the moving wheel drive motor. I just need. Next, generation of the target operation path of the moving mechanism 1 will be described.

FIG. 6 shows a route 81 through which the moving mechanism 1 moves in a section 8 such as a sports ground. For the route 81, an appropriate one is selected for each section from a straight line, an arc, a spline curve, a cloth curve, and the like, and determined as a combination thereof. In the example of FIG. 6, as the simplest case, the route 81 is specified as a combination of a straight line and an arc. That is, the sections 812, 813, 815, etc. are straight lines, and the sections 812, 814, 816, etc. are arcs. The end point position of each section is expressed as a relative position from the start point of the section or an absolute position fi. It is better that the coordinate system 80 representing this position is fixedly defined for the section 8 as shown in FIG.

By the way, the target motion path to be given to the control device fit of the moving mechanism 1 is expressed in a program language format as follows.

V E LV 0

LMO V E P 1

CMO V E P 2

LMO V E P 3

CMO V E P 4

etc.

Here, P i (i = 1, 2, 3, 4, 5 to) correspond to the target point in FIG. 6, and are a group of parameters expressed using the coordinate system 80. This parameter consists of two coordinate values when considered on a two-dimensional plane, and three values that match the attitude of the moving mechanism 1 at that point or the target moving direction. However, the attitude and the target motion direction may be omitted depending on the route generation method. Both are possible.

Here, VEL is an instruction that specifies that the following operation is performed using the operand, that is, V0 as the value of speed. In addition, LMOVE and CMOVE use a path connected by a straight line (LMOVE) or an arc (CMOVE) from the position and orientation at the start of execution of this instruction to the target point (eg, P1) written as an operand as the target path. This is an instruction to generate. Note that the CMOV E command can also be specified by explicitly adding the radius of the arc.

As described above, the target operation path 81 of the moving mechanism 1 is given by designating the shape, the position and orientation of the end point, and the like for each section in a language format prior to the operation.

In the control device of the moving mechanism, the target operation path of the moving mechanism is generated by interpreting and executing each command in order. That is, in this case, the generation of the target operation path 81 is performed at the start point of the section path. Next, FIG. 3 shows the concept of the operation control method which is the main part of the present invention. From the current position 10 of the moving mechanism 1, make a perpendicular to the target motion path 9, and set the intersection with the motion path 9 to 90. In this case, the displacement S of the actual transfer mechanism 1 with respect to the original target route 9 is given as the distance between the points 10 and 90. Therefore, a vector U51 which has a direction from point 10 to point 90 and has a magnitude proportional to this distance L is considered as a restoring force for the target path. Here, the proportional coefficient is assumed to be k. This restoring force acts to reduce the deviation of the moving mechanism from the target path and draw the moving mechanism toward the target path. Here, there can be various modifications such as a form in which the size of the vector U is not proportional to the distance L, but a form proportional to the square of the distance, or a form proportional to the square root of the separation. In addition to the shape described above, the amount of operation to draw more toward the target path is considered by considering the curvature of the target path and higher-order differential values. It is also conceivable to add. For example, if the target path is a circular arc, a method of obtaining a vector U corresponding to the restoring force for the target path by taking into account the centripetal force according to the curvature of the target path will improve the ability to follow the curve. Can be increased. As for the correction amount according to the curvature, there is a method based on another concept as described later.

Now, assuming that the current operation command speed is V, V can be considered as a vector 50 having a direction of a tangent line 91 to a curve 9 indicating a route at a point 90. Since the moving mechanism 1 should operate at the speed V along the target path 9, the operation may be determined by the speed vector W52 that combines the two. Now, assuming that the magnitude of the vector W is instructed to coincide with the target moving speed, the following equation is given by using the above-mentioned proportional coefficient k.

W = (V + kU) .V / (V + kU)

It should be noted that there may be a modified example in which the speed of the tangential direction along the operation route is made to coincide with the specified speed, instead of adjusting the actual speed of the combining operation to the specified speed.

When the operating speed vector is determined by the above equation, the target operating direction 0 is given by the following equation.

0 = atan2 (Ca X, Y) + 2n; r

Where atan2 is the inverse tangent function with the denominator lfx and the numerator Wy, x and ly are the components of the vector If, and π is an integer.

Next, FIG. 4 shows an embodiment of the control device S for realizing the above method. Information from the optical fiber gyro 105 and the wheel rotation sensors 101, 101 is input to the self-position and posture estimator 201 of the moving mechanism 1, and the position and posture are determined by dead reckoning. presume. On the other hand, information on the target section route is calculated by the target route generator 202, and this result is compared with the above estimated position and posture by the pseudo-difference calculator 203, and the line Is obtained from the point. As a result, a vector U corresponding to the restoring force for the light road is obtained. Further, the target path generator 202 outputs a target operation speed and, if necessary, curvature information of the target path, and these are given to the driving operation amount calculator 204. The driving operation amount calculator 204 calculates the operation speed vector ir, which is the driving operation amount, based on the above formulas, and further calculates the operation direction calculator 310 and the operation speed calculator 4. The target operation direction 0 and the operation speed Ϊ are respectively obtained by 1 0.

The target motion direction 0 corresponds to the tangential direction of the actual motion gauge of the moving mechanism 1, and from this and the actual posture information from the optical fiber gyro 105, the steering angle is calculated by the steering angle calculator 320. Find 0. Hereinafter, the steering mechanism 302 is driven via the servo amplifier 301. Although FIG. 2 shows a configuration in which the steering angle 0 itself is subjected to position servo control, the posture of the moving mechanism, that is, the actual operation direction is detected by the optical fiber gyro 105, and this is compared with the target operation direction. It is also possible to build an operation direction servo system that operates to reduce the connection difference. The output of the operating speed calculator 410 shown in FIG. 4 is given to the operating speed adjusting mechanism servo system 40 shown in FIG. 2 to control the operating speed.

FIG. 5 shows an example of a block diagram of the above-described operation direction control system. The momentary movement direction of the moving mechanism 1 is nothing less than the posture of the moving mechanism 1 itself. In order to control the operation direction of the moving mechanism 1, it is necessary to drive and control the steering angles of the wheels 101 and 102, that is, the steering angles. However, the steering angle <iW for realizing the desired motion direction 0 is affected by the structure, dynamic characteristics, and operation speed V of the moving mechanism 1, and further, characteristics such as the sliding of the vehicle. Even if a model of the structure and dynamic characteristics of the mechanism is constructed and the control amount is calculated based on this model, the modeling error will not be avoided, and the wheel slip characteristics etc. will also depend on the condition of the running surface Is done. Therefore, these What is necessary is just to configure the servo system of the operation direction as one servo system including the above characteristics. Note that a model of an ideal mechanism in the moving mechanism 1 shown in FIG. 1 is shown by the following equation.

d ^ / dt =. V / D-tan

Here, D is the distance between the axes of the two pairs of vehicles in the moving mechanism 1, that is, the wheelbase.

The posture, that is, the direction, of the moving mechanism 1 as a target is given from the operation direction calculator 310, and the difference from the actual posture obtained from the optical fiber gyro 105 is calculated by the comparator 315. A servo control supplement such as PID is applied to the result, and a steering angle command value is obtained by a process such as adding a feed-feed supplement according to the curvature of the target path by adding, if necessary. This command is transmitted to the steering mechanism 302. The rudder mechanism 302 is assumed to have a servo system for the steering angle itself. As a result, an actual steering angle is realized based on the dynamic characteristics of the mechanism 302. The steering angle of the moving mechanism 1 is determined by the steering angle, and the direction of the actual operation and the actual posture of the moving mechanism 1 are determined based on the kinematic characteristics of the moving mechanism 1 and the condition of the road surface. Although the actual posture and the target posture are not always the same, the feedback is performed by the comparator 315, and the operation control is performed so as to converge the real posture to the target posture. The rudder characteristic 110 of the moving mechanism 1 indicates the relationship between the steering angle of the moving mechanism 1 itself and the operation direction, and does not perform calculation processing as a control algorithm. That is, even if such a mechanism model is not calculated, since the characteristic itself is included in the servo control loop, it has a stable property that it converges to the specified value. This is one of the features of this embodiment of the present invention.

The basic idea of the present invention, that is, instead of setting a momentary target position on a route and performing location control toward it, the route itself is On the other hand, the idea of performing servo control equivalent to the restoring force is based on the assumption that it is difficult to accurately grasp the interlocking characteristics and dynamic characteristics of the moving mechanism itself. The purpose is to realize stable control that does not depend on it. In other words, the position of the moving mechanism does not always coincide with the target path. However, by constructing the servo control system for the path, the control works so that it is always drawn toward this target path, which makes it possible to control the path. Also, in this case, the path itself of the motion when being drawn to the target path by the restoring force is not calculated and generated by the calculator 20. Since the operation is performed based on the feedback control concept similar to that of the servo system, it is not necessary to define and give the trajectory of the operation geometrically. It can also be said that the convergence to can be realized.

Next, FIG. 7 shows another embodiment of the present invention.

In this example, the moving mechanism 1 operates not along the partitioned area in FIG. 6, but along an elongated area 88 such as a road or a passage. Even in such a case, the method of specifying the target path 89 is exactly the same as that of the embodiment shown in FIG. 6, that is, the entire operation is programmed before the operation starts. It is also possible to give it. However, in this embodiment, a visual sensor (not shown) for observing the traveling direction is provided on the moving mechanism 1 operating along the route as shown in FIG. The position and orientation of the appropriate target point are determined from the passable area in front of the moving mechanism 1 by using this.

FIG. 8 shows an example of an image obtained by the visual sensor. The vertical direction of the image corresponds to the distance in front of the moving mechanism, and the horizontal direction of the image corresponds to the left and right of the moving mechanism. The area of the passage to be moved is a border Given by 7 1 and border 7 2. Therefore, the passage status in front of the constant sculpture from the moving mechanism 1 can be determined by the boundary line 7K72 at the position of the scanning line 79. Therefore, the midpoint 75 of the intersection point 73 between the scanning line 79 and the boundary lines 71 and 72 is set as the target position, and the tangents of the boundary lines 71 and 72 at the points 73 and 74. The combined direction 78 of the direction vectors 76, 77 is generated as the direction corresponding to the target posture. The target point P i is generated by matching the target position and orientation. By performing this processing at regular time intervals or at regular intervals, an action equivalent to the operation command given in advance in the first embodiment, that is, a command such as LMOVE, is issued according to the situation. It can be operated while generating the sound in real time during the operation of the structure. P11, P12, P13, P14, etc. in FIG. 7 are the target points generated in this way. For example, P13 is a position before the moving mechanism 1 reaches the target point P12. P14 is generated before the moving mechanism 1 reaches the target point P13.

When there is an obstacle on the passage, it is possible to detect the obstacle using a known image processing technique and generate a target position and a posture to avoid the obstacle. In addition, such a method can be applied to a case where the user moves in a partitioned area as shown in FIG. Regarding the selection of point groups and instructions (hereinafter referred to as online route data) for specifying the travel route given prior to Shunsaku, the section route generated based on the online route data is usually used. This can be dealt with by considering the target route and correcting the target route only when it is determined that there is an obstacle.

According to the present invention, the operation amount corresponding to the restoring force corresponding to the deviation amount from the target path and the operation amount corresponding to the operation speed in the direction along the target path in controlling the operation of the moving mechanism are determined. And then, based on this, Adopts a method of controlling the operation by performing servo control on the kneading itself, so that it is possible to provide a method of moving the moving mechanism smoothly along the target path to the cylinder service. There is an effect that there is. Further, by adding a centripetal force according to the curvature of the target operation path, it is possible to easily follow the curve. Further, even when the actual position of the moving mechanism is not on the target road, it is possible to easily match the target operation speed with the actual operation speed. Further, based on the method of the present invention, by further constructing a feedback control system for generating a torque angle command corresponding to the deviation between the attitude of the moving mechanism and the target operation direction, the steering characteristics of the moving mechanism are improved. Even if it is not possible to accurately grasp the steering angle, it is possible to control the steering angle and operate the mechanism in the desired operation direction.

Claims

The scope of the claims

1. In the operation control method that controls the motion of an object moving along the target path, the target drive operation amount is calculated from the distance between the target path and the moving mechanism and the target movement speed. Target movement direction based on target drive operation amount

5 An operation control method of the transfer mechanism, which is characterized in that it is determined.

2. In the motion control method that controls the motion of the object moving along the target path, the target drive operation amount is calculated from the length of the perpendicular drawn from the position of the moving mechanism to the target path and the target moving speed. Determining a command value in a target operation direction based on the obtained target drive operation amount and local curvature of a target path.

3. The operation control method for a moving mechanism according to claim 1 or 2, wherein the target driving operation amount is treated as a vector including a plurality of values, and the norm corresponds to the target moving speed. A method for controlling the operation of a moving mechanism, characterized in that it is determined by the operation.

54. In the operation control method of the moving mechanism described in the claim 3 of the patent claim, the movement is characterized in that the target steering angle is controlled based on the target operating direction and the actual posture of the moving mechanism. A mechanism operation control method.

5. In the control unit fi that controls the movement of the transfer mechanism that moves along the target path, the target drive operation amount is calculated from the separation between the target path and the moving object and the target movement speed. A movement control device for a moving mechanism, comprising: means; and means for determining an operation direction of the eye based on the obtained eye drive operation amount.

6. An operation control device for controlling the movement of a moving mechanism that moves along a target path, wherein a target operation is performed based on a length 5 of a perpendicular drawn from the position of the moving mechanism to the target path and a target moving speed. Means for calculating the amount of movement, and a command for the target operation direction based on the obtained target drive operation amount and the local curvature of the target path. An operation control device for a moving mechanism, comprising: means for determining a value.

7. In the operation control device fi of the moving mechanism according to claim 5 or 6, a means for calculating the target drive operation amount as a plurality of values, and a vector having the value as an element. An operation control device for a moving mechanism, characterized by having a means for determining a norm of torque in accordance with a target moving speed.

8. The operation control device for a moving mechanism according to claim 7, further comprising: means for determining and controlling a desired operation angle based on a command value of the operation direction and an actual posture of the moving mechanism. An operation control device for a moving mechanism, comprising: