PURPOSE: To provide a locus controller which can control a mobile locus to set it at a target speed despite a short space secured between the teaching points.
CONSTITUTION: A moved distance adder means adds together the moved distances covering plural teaching points of short spaces. Then a speed control means controls the transfer speed of an object to be transferred over plural teaching points based on the moved distances added together by the adder means. A speed judging means judges whether the speed controlled by the speed control means reached a target level or not. Then the transfer speed of the object is continuously increased by the speed control means until the speed judging means decides that the speed reached the target level. Thus the object is transferred at the target speed after the speed judging means judges that the transfer speed reached the target level. In such a way, the moved distances are added together over plural teaching points without controlling the transfer speed for each space among the teaching points despite a short space. Thus the transfer speed is controlled at a target level.
KOMURO KATSUHIRO
YAMAMOTO YOSHIJI
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