TRANSPORT CARRIAGE SYSTEM AND METHOD FOR CONTROLLING RUNNING OF TRANSPORT CARRIAGE

摘要

The objective is to eliminate sudden changes in commands that are input to a servo system. Multiple transport carriages are made to run along a common track. Servo control systems are provided in the transport carriages to servo-control the running of the transport carriages, and intermediate commands for the servo system are generated with a prescribed period by an acceleration/deceleration control unit of a running control unit. A smoothing unit of the running control unit generates smoothed commands with a prescribed period by smoothing the generated intermediate commands over multiple periods, and the servo systems are controlled on the basis of the smoothed commands that have been generated.