| 摘要 |
PROBLEM TO BE SOLVED: To provide a locus control device which can suppress vibration of a moving body generated by the influence of the inertial force. SOLUTION: Calculation is made for the angleθformed between a line segment K1 tying a command point P4 to another command point P5 and a line segment K2 tying the command point P5 to a command point P6, and the accelerationαand decelerationβcorresponding to the angleθare read from an acceleration/deceleration table, and between P4 and P5 a tool is put in a decelerative control at the decelerationβ, while accelerative control is made with the accelerationαbetween P5 and P6. That is, tool control between command points is conducted with the accelerationαand decelerationβcorresponding to the angleθformed between the line segments K1 and K2 tying a string of command points in the sequence as P4, P5, and P6, and therefore, it is possible to suppress the tool vibration generated by the inertial force at reaching the command point P5, even in case, for example,θis an acute angle.
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