| 摘要 |
PROBLEM TO BE SOLVED: To suppress generation of vibration by making a movable body perform accelerated motion and decelerated motion by using maximum acceleration/deceleration speed when command speed is prescribed speed or more, determining deceleration based on time required for acceleration or decelerating and stopping the movable body when command speed is less than prescribed speed and making the movable body perform accelerated motion and decelerated motion. SOLUTION: The comparison of calculated acceleration/deceleration time T and preliminarily set lowest acceleration/deceleration time Tmin is performed (S 52). In this case, the lowest acceleration/deceleration time Tmin is considered as a value specific to a machine. When acceleration/deceleration is constant and time required for accelerating speed up to command speed is longer than this lowest acceleration/ deceleration time Tmin, vibration is not generated. Or when vibration is within an allowable range, even if vibration is generated, and time required for accelerating speed up to command speed is shorter than this lowest acceleration/deceleration time Tmin, a value is preliminarily and experimentally determined for a value for generating vibration of an allowable value or more and is stored in a memory 72. Thus, even if a comparatively low speed command is given, vibration of a mobile body is prevented and a locus control with high accuracy is made possible.
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