| 摘要 |
PROBLEM TO BE SOLVED: To provide a positioning and stopping apparatus for enabling a proper margin distance to be left while shortening the whole moving time of a controlled object without giving any vibration and impulse to the controlled object. SOLUTION: In a deceleration pattern, a fixed margin distance "xo(0)" from a position of the controlled object until a target position "Xg" at the time of reaching stop preparing velocity, and a reaching time point when the controlled object reaches the target position "Xg" are set. A velocity adjustment value "Va" includes distance reduction adjusting value "α" which is a margin distance reducing amount "Δxo" whose magnitude is not larger than the fixed margin distance "xo(0)" divided by a residual time period which is the time from adjustment time point "t" until the reaching time point. The margin distance reducing amount "Δxo" is larger at posterior adjustment time point "t" than that at an anterior adjustment time point "t". COPYRIGHT: (C)2009,JPO&INPIT
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