Patent attributes
A control method is proposed for a traveling dolly. The traveling dolly may include wheels driven by motors and a body supported by the wheels. The traveling dolly may further include a control computer commanding control command value to the motors, and a centroid of the body positioning above a rotation axis of the wheels. The control method may include the control computer estimating external force moment, which is a moment of inertia around the rotation axis of the wheels generated by external force applied on the body; a tilt angle of the body, which makes a gravity moment around the rotation axis of the centroid of the body balance with the external force moment, being set as a target body tilt angle; and based on the target body tilt angle, calculating a torque command value for the motors.
