| 摘要 |
Provided is a target indication device for generating a path while maintaining spatial stability. The target indication device is equipped with: a command generation means (5) for setting a target angle (&thetas;t) and a target angular velocity (ωt); a path generation means (6) which has one or more of the current angle states (&thetas;m, &thetas;g) of the subject of control (1) and a mobile body fed back thereto as a path-generation current angle (&thetas;k), generates a path for the subject of control (1) on the basis of the current angle states (&thetas;m, &thetas;g), the target angle (&thetas;t) and the target angular velocity (ωt), and outputs an output angle signal and output angular-velocity signal (Kt) according to the path; an angle detection means (2) for detecting the current angle (&thetas;m) of the subject of control (1); an inertia sensor (7) positioned in the mobile body or the subject of control (1); and a first subtraction means (9) for subtracting a shaking angle component (&thetas;g) of the mobile body from the output angle signal (Kt); and a controller (3). |
