| 摘要 |
PURPOSE:To secure the accurate table positioning for an automatic traveling truck by calculating the control angle and control distance based on a prescribed error control equation via an arithmetic part and shifting the table with rotation and parallel advance in response to said control angle and distance. CONSTITUTION:An arithmetic part calculates a control angle theta and a control distance (d) between the present position and a target position by a prescribed error control equation based on the detection signal received from a detecting means 3. Then a shift means 5 works in the direction where said angle theta is eliminated and rotate a table by an angle -theta. Furthermore the means 5 works to eliminate said distance (d), that is, the table is moved by the distance (d) in the direction parallel to the moving direction of a truck 1. Thus the accurate table positioning is secured by moving the table by said control angle and distance even though the truck 1 has a shift from the target position when it is stopped.
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