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    • 82. 发明授权
    • Mobile apparatus, control device and control program
    • 移动设备,控制装置和控制程序
    • US08103383B2
    • 2012-01-24
    • US12062000
    • 2008-04-03
    • Makoto Nakamura
    • Makoto Nakamura
    • G05B19/19G08G1/16B25J5/00
    • B62D57/032B25J9/1676G05D1/0214G05D1/0246G05D2201/0217
    • A mobile apparatus or the like capable of moving or acting while surely preventing contact with an object such as a human being, by avoiding the situation where the object inappropriately changes its behavior for the purposes of preventing contact with the mobile apparatus, is provided. According to the robot of the present invention, a path that can prevent contact with the third spatial element satisfying the requirement regarding the size in the element space, among a plurality of expanded spatial elements arranged around the first spatial element, is set as a target path. This allows the robot to move in accordance with a consistent rule that is modified in response to the width of the clearance between the object and the boundary of the passable region.
    • 本发明提供了一种能够通过避免物体不适当地改变其行为以防止与移动装置接触的情况而能够移动或作用的移动装置,同时确保防止与诸如人的物体的接触。 根据本发明的机器人,将布置在第一空间元素周围的多个扩展空间元素之中的能够防止与满足关于元素空间中的尺寸的要求的第三空间元素的接触的路径设定为目标 路径。 这允许机器人根据一致的规则移动,该规则被响应于物体和可通过区域的边界之间的间隙的宽度被修改。
    • 90. 发明授权
    • AC motor drive controller
    • 交流电机驱动控制器
    • US07911177B2
    • 2011-03-22
    • US12451975
    • 2008-06-18
    • Hiroki OhtaniHideto HanadaMakoto NakamuraKenji Yamada
    • Hiroki OhtaniHideto HanadaMakoto NakamuraKenji Yamada
    • H02P27/04
    • H02M7/53875H02M7/5395H02M2001/0025H02P21/06H02P27/085
    • An overmodulation PWM controller includes a voltage instruction calculation unit which calculates a d axis voltage instruction and a q axis voltage instruction in which a voltage amplitude exceeds a peak value of a triangular wave carrier; a voltage instruction correction unit which corrects the d axis voltage instruction and the q axis voltage instruction so that a pulse width modulation voltage applied to an AC motor has a fundamental wave amplitude corresponding to the voltage instruction amplitude, according to the synchronization value K which is the number of the triangular carriers per one cycle of the phase voltage instruction; and a voltage instruction conversion unit which converts the corrected d axis voltage instruction and the q axis voltage instruction into a phase voltage instruction. The pulse width modulation voltage is controlled according to the result of comparison between the phase voltage instruction and the triangular wave carrier.
    • 过调制PWM控制器包括电压指令计算单元,其计算电压幅度超过三角波载波的峰值的d轴电压指令和q轴电压指令; 电压指令校正单元,其根据同步值K,校正d轴电压指令和q轴电压指令,使得施加到AC电动机的脉宽调制电压具有对应于电压指令振幅的基波振幅 相电压指令每一个周期的三角载波数; 以及电压指令转换单元,其将校正的d轴电压指令和q轴电压指令转换为相电压指令。 根据相电压指令与三角波载波的比较结果,控制脉宽调制电压。