| 摘要 |
PROBLEM TO BE SOLVED: To draw a target locus at a moving point regardless of the velocity and furthermore, to decrease the number of control factors by one compared with the number of degree of freedom by shifting the moving point in the tangent direction of the target locus. SOLUTION: A moving point P having the same movement as a tracer 10 consists of a wheel 1 of radius (r), and the moving direction of the point P is controlled by a direction control motor 2, and moved in the controlled direction by a motor 3. A direction controller (computer) 4 calculates the tangent direction of a target locus C at the present position of the point P set on the locus C and outputs the tangent direction to the motor 2. The wheel 1 receivesθ(an angle set to the axis x around axis z) set on xy plane via the motor 3 and revolves on the xy plane at a rotational speedω. Thus the tracer 10 placed on the center axis of the wheel 1 operates in theθdirection on the xy plane at a velocity (v=rω) like the point P and can correctly draw the locus C.
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