| 摘要 |
PROBLEM TO BE SOLVED: To generate a target track capable of reducing vibration excited in a control target by means of a simple structure at low cost. SOLUTION: In a reference instruction setting part 41, a plurality of kinds of reference instructions (position tracks) with fixed target time and arrival distance are prepared. Every reference instruction is for a track, in which a specific frequency constituent as a cause of excitation of vibration is suppressed so that vibration is not generated in the control object in execution of positioning control. When one of the reference instructions is selected, a regulation instruction is generated in a regulation instruction setting part 42 based on a difference between the final arrival distance in the reference instruction and that in the input instruction. In a computer 43, the regulation instruction is added/subtracted to/from the reference instruction. The level of the specific frequency constituent of the input instruction generated in this way is dependent on the level of the regulation instruction, so that vibration in the control object can be greatly reduced when the regulation instruction is set low. COPYRIGHT: (C)2007,JPO&INPIT
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