| 摘要 |
PCT No. PCT/JP85/00455 Sec. 371 Date Apr. 24, 1986 Sec. 102(e) Date Apr. 24, 1986 PCT Filed Aug. 16, 1985 PCT Pub. No. WO86/01450 PCT Pub. Date Mar. 13, 1986.A line tracking control method of controlling a robot (51) to cooperate with a conveyor (50) in its movement determines a speed of movement of the conveyor (50) as a constant, determines a corrective variable (d) based on the determined conveyor speed, finds a boundary value (B) for the speed of the conveyor (50), compares the boundary value with an actual speed of the conveyor (50), and adding or subtracting the corrective variable (D) based on the result of comparison, thus determining a command value for the robot.
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