Travel vehicle and travel control method for the travel vehicle
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United States of America Patent
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-
Oct 13, 2009
Grant Date -
Nov 1, 2007
app pub date -
Apr 30, 2007
filing date -
May 1, 2006
priority date (Note) -
In Force
status (Latency Note)
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Abstract
The height of the center of gravity of a stacker crane is determined in consideration of a height position of an elevation frame and the inertial force is determined from the travel acceleration and deceleration. Wheel pressures applied to front and rear drive wheels are determined based on the height of the center of gravity, the inertial force, and horizontal distances from the center of gravity to the front and rear drive wheels. Torques are allocated in proportion to the determined wheel pressures.
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