| 摘要 |
PURPOSE:To reduce the computation time required for restoring to a path, by generating a path restoring speed command vector from a present position to a scheduled path in a perpendicular direction, and controlling a motion. CONSTITUTION:A path restoring speed vector Vk is generated in stead of generating a targeted speed command vector in a direction of restoration to the path. In other words, the targeted speed command vector in the direction of restoration to the path can be divided into a speed vector in a direction of the path, that is, the targeted speed command vector Vdi, and a speed vector perpendicular to that, that is, the path restoring speed vector Vk. Therefore, by setting the speed vector Vdi constant invariably, and generating the speed vector Vk corresponding to the present position Pn, aberration from the path RP generated by an obstacle circuit can be corrected, and since the direction of the speed vector Vdi is constant in spite of position, it is not necessary to calculate a unit direction vector corresponding to the position, therefore, no complicated square-root calculation is required, and the computation time can be reduced.
|
