| 摘要 |
PURPOSE: A method and apparatus for planning a real-time exercise in a three-dimensional phase space are provided to reduce a mechanical impulse according to a discontinuous acceleration, and to increase a ride comfort by continuously maintaining a change rate of acceleration. CONSTITUTION: A real-time exercise planning device is commonly connected to a dynamic limitation unit(2) and a landing area calculation unit(10). A target position Pt is provided to a landing curved surface calculation unit(4). An adder(12) is connected to the landing curved surface calculation unit(4). A jerk determination unit(6) is connected to the adder(12). A speed/acceleration limitation unit(12) is commonly connected to the landing area calculation unit(10) and the jerk determination unit(6). An integral motion planning unit(8) is commonly connected to the jerk determination unit(6) and the speed/acceleration limitation unit(12).
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