| 摘要 |
PROBLEM TO BE SOLVED: To freely travel a model body along a free traveling line by traveling the model body closer to a target position based on the read position of model body and the target position of model body. SOLUTION: First of all, an instruction preparing part 56 prepares an instruction for oscillating coils 30f and 30r, and the coordinates of positions of coils 30f and 30r are stored in a coordinate value memory 44. Then, an angle errorα, tangential direction errorβand average speedγare operated by an angle error operation part 48, tangential direction error operation part 50 and average speed operation part 52. According to these operated results, a right motor speed operation part 54r and a left motor speed operation part 541 operate the speed of respective motors 16r and 161. According to these operated results, the instruction preparing part 56 prepares a motor driving instruction and an optical communication unit transmits this instruction as an optical signal. A photodetector 27 of the model body receives this optical signal and finally, the motors 16r and 161 are driven according to the motor driving instruction.
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