WO1997036217A1 - Technique permettant de commander le fonctionnement d'un mecanisme en mouvement et appareil correspondant - Google Patents

Technique permettant de commander le fonctionnement d'un mecanisme en mouvement et appareil correspondant Download PDF

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Publication number
WO1997036217A1
WO1997036217A1 PCT/JP1996/000757 JP9600757W WO9736217A1 WO 1997036217 A1 WO1997036217 A1 WO 1997036217A1 JP 9600757 W JP9600757 W JP 9600757W WO 9736217 A1 WO9736217 A1 WO 9736217A1
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WO
WIPO (PCT)
Prior art keywords
target
moving mechanism
path
moving
movement
Prior art date
Application number
PCT/JP1996/000757
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English (en)
Japanese (ja)
Inventor
Norihisa Miyake
Toshihiro Aono
Kenjiro Fujii
Yuji Matsuda
Shintaro Hatsumoto
Takayuki Kamiya
Kazuo Kobayashi
Original Assignee
Hitachi, Ltd.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hitachi, Ltd. filed Critical Hitachi, Ltd.
Priority to PCT/JP1996/000757 priority Critical patent/WO1997036217A1/fr
Publication of WO1997036217A1 publication Critical patent/WO1997036217A1/fr

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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle

Definitions

  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the present invention relates to a method of controlling the operation by correcting the difference between the two.
  • 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.
  • 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”.
  • 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.
  • 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.
  • 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.
  • 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
  • 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
  • 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.
  • 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.
  • a sensor that detects the rotational speed may be used instead of the rotational position of the wheel.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • a 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.
  • 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.
  • 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.
  • 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.
  • the attitude and the target motion direction may be omitted depending on the route generation method. Both are possible.
  • VEL is an instruction that specifies that the following operation is performed using the operand, that is, V0 as the value of speed.
  • 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.
  • LMOVE straight line
  • CMOVE arc
  • the CMOV E command can also be specified by explicitly adding the radius of the arc.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the correction amount according to the curvature there is a method based on another concept as described later.
  • 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.
  • the target operating direction 0 is given by the following equation.
  • 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 ⁇ is an integer.
  • 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.
  • 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.
  • 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 ⁇ 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.
  • the steering mechanism 302 is driven via the servo amplifier 301.
  • 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.
  • 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.
  • 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.
  • a model of an ideal mechanism in the moving mechanism 1 shown in FIG. 1 is shown by the following equation.
  • 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
  • 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.
  • the control works so that it is always drawn toward this target path, which makes it possible to control the path.
  • 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.
  • FIG. 7 shows another embodiment of the present invention.
  • 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.
  • 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.
  • 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.

Abstract

L'invention porte sur une technique, ainsi que sur l'appareil correspondant, permettant de commander en douceur le fonctionnement d'un mécanisme en mouvement, un mécanisme à roue, notamment, le long d'un parcours ciblé. On calcule la valeur de l'écart du mécanisme en mouvement par rapport au parcours ciblé et l'on décide d'un paramètre de fonctionnement pour commander le fonctionnement du mécanisme d'après ce calcul et d'après une vitesse cible. C'est la détermination d'un angle de braquage à l'aide de ce paramètre de fonctionnement qui permet de commander le fonctionnement du mécanisme en mouvement. Puisque les opérations de commande du fonctionnement sont exécutées en utilisant l'angle de braquage établi en fonction de l'écart par rapport à la route ciblée et de la vitesse cible, il est possible de garantir un fonctionnement en douceur du mécanisme en mouvement à l'aide d'un procédé simple.
PCT/JP1996/000757 1996-03-22 1996-03-22 Technique permettant de commander le fonctionnement d'un mecanisme en mouvement et appareil correspondant WO1997036217A1 (fr)

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Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2010211827A (ja) * 1998-02-13 2010-09-24 Komatsu Ltd 車両の誘導装置
JP2015530635A (ja) * 2012-07-12 2015-10-15 ルノー エス．ア．エス． ハンドルを有する自律車両の進路を制御する方法
JP2017152051A (ja) * 2017-06-07 2017-08-31 株式会社日立産機システム 移動体の走行制御手段に対して制御指令を出力する位置検出装置を取り付けた移動体及びその位置検出装置
WO2018061612A1 (fr) * 2016-09-29 2018-04-05 本田技研工業株式会社 Dispositif de commande de véhicule
US10261511B2 (en) 2013-03-28 2019-04-16 Hitachi Industrial Equipment Systems Co., Ltd. Mobile body and position detection device
WO2020049809A1 (fr) * 2018-09-05 2020-03-12 日本電気株式会社 Dispositif de commande de mouvement, procédé de commande de mouvement , support non transitoire lisible par ordinateur, et système de commande de mouvement
WO2022018826A1 (fr) * 2020-07-21 2022-01-27 日本電気株式会社 Système de commande de corps mobile, dispositif de commande, et procédé de commande de corps mobile

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Publication number Priority date Publication date Assignee Title
JPH0256006A (ja) * 1988-08-22 1990-02-26 Meidensha Corp 無人車の走行制御方式
JPH03189805A (ja) * 1989-12-20 1991-08-19 Tokimec Inc 車両の自動操舵方法及びその自動操舵装置
JPH03248210A (ja) * 1990-02-27 1991-11-06 Komatsu Ltd 走行車両の自動走行システム

Patent Citations (3)

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Publication number Priority date Publication date Assignee Title
JPH0256006A (ja) * 1988-08-22 1990-02-26 Meidensha Corp 無人車の走行制御方式
JPH03189805A (ja) * 1989-12-20 1991-08-19 Tokimec Inc 車両の自動操舵方法及びその自動操舵装置
JPH03248210A (ja) * 1990-02-27 1991-11-06 Komatsu Ltd 走行車両の自動走行システム

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2010211827A (ja) * 1998-02-13 2010-09-24 Komatsu Ltd 車両の誘導装置
JP2015530635A (ja) * 2012-07-12 2015-10-15 ルノー エス．ア．エス． ハンドルを有する自律車両の進路を制御する方法
US10261511B2 (en) 2013-03-28 2019-04-16 Hitachi Industrial Equipment Systems Co., Ltd. Mobile body and position detection device
WO2018061612A1 (fr) * 2016-09-29 2018-04-05 本田技研工業株式会社 Dispositif de commande de véhicule
CN109844669A (zh) * 2016-09-29 2019-06-04 本田技研工业株式会社 车辆控制装置
CN109844669B (zh) * 2016-09-29 2022-03-11 本田技研工业株式会社 车辆控制装置
JP2017152051A (ja) * 2017-06-07 2017-08-31 株式会社日立産機システム 移動体の走行制御手段に対して制御指令を出力する位置検出装置を取り付けた移動体及びその位置検出装置
WO2020049809A1 (fr) * 2018-09-05 2020-03-12 日本電気株式会社 Dispositif de commande de mouvement, procédé de commande de mouvement , support non transitoire lisible par ordinateur, et système de commande de mouvement
JPWO2020049809A1 (ja) * 2018-09-05 2021-08-26 日本電気株式会社 モーション制御装置、モーション制御方法、モーション制御プログラム、及びモーション制御システム
WO2022018826A1 (fr) * 2020-07-21 2022-01-27 日本電気株式会社 Système de commande de corps mobile, dispositif de commande, et procédé de commande de corps mobile

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