| 摘要 |
PURPOSE:To move an industrial carrier robot between two points in the minimum time by applying the minimum time control method to the control of the robot by a microcomputer. CONSTITUTION:A microcomputer 11 calculates an optimum curve that passes through a start point 25 and then an optimum curve passing through a target point 26 and the intersecting point between both optimum curves. Then the computer 11 keeps the output value of an actuator 15 at the maximum negative value until the distance from the point 26 measured by a position detector 13 covers the intersecting point of both curves. When said distance covers the intersecting point, the computer 11 changes the output value of the actuator 15 the maximum positive value. Thus an industrial carrier robot can reach the point 26 in the minimum time.
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