Invention Grant
- Patent Title: Movement direction control apparatus and computer program
- Patent Title (中): 运动方向控制装置和计算机程序
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Application No.: US13232149Application Date: 2011-09-14
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Publication No.: US09128488B2Publication Date: 2015-09-08
- Inventor: Shigeru Tsuji , Shigeki Fukunaga , Mitsuhiro Namura , Koji Kawai , Kenichi Shirato
- Applicant: Shigeru Tsuji , Shigeki Fukunaga , Mitsuhiro Namura , Koji Kawai , Kenichi Shirato
- Applicant Address: JP Kyoto
- Assignee: Murata Manufacturing Co., Ltd.
- Current Assignee: Murata Manufacturing Co., Ltd.
- Current Assignee Address: JP Kyoto
- Agency: Keating & Bennett, LLP
- Priority: JP2009-062177 20090316
- Main IPC: G05D1/02
- IPC: G05D1/02 ; B62K1/00 ; G05D1/08 ; A63H17/25

Abstract:
In a movement direction control apparatus and a non-transitory computer readable medium, a reaction torque accompanying rotation of a rotor is utilized to control a rotation angle of a body in a yaw direction. A specification of a yaw angle of a wheel as a target of the movement direction is received, and information of a friction torque is acquired. A rotation angular acceleration in the yaw direction is calculated, based on the yaw angle, the specification of which has been received, and the reaction torque is calculated, based on the calculated rotation angular acceleration in the yaw direction. An operation instruction to a motor for yaw is generated, based on the calculated reaction torque and the acquired information of the friction torque.
Public/Granted literature
- US20120010783A1 MOVEMENT DIRECTION CONTROL APPARATUS AND COMPUTER PROGRAM Public/Granted day:2012-01-12
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