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TRAJECTORY TRACKING CONTROL SYSTEM AND METHOD FOR MOBILE UNIT, AND COMPUTER-READABLE RECORDING MEDIUM WITH TRAJECTORY TRACKING CONTROL PROGRAM FOR MOBILE UNIT
TRAJECTORY TRACKING CONTROL SYSTEM AND METHOD FOR MOBILE UNIT, AND COMPUTER-READABLE RECORDING MEDIUM WITH TRAJECTORY TRACKING CONTROL PROGRAM FOR MOBILE UNIT
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机译:移动单元的轨迹跟踪控制系统和方法,以及具有移动单元的轨迹跟踪控制程序的计算机可读记录介质
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摘要
A trajectory tracking control system according to the invention controls a robot (1) to track a target path (100). In this system, the target path (100) is approximated to an arc, and the curvature of the arc is calculated. At this time, the curvature is calculated in accordance with the moving speed of the robot (1). Then, the control of the robot (1) is set in accordance with the calculated curvature.
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