抄録
We propose the revision algorithm of trajectory tracking on spiral slope. In earlier methods, guidance to target trajectory and correction of the deflection angle were controlled in a constant ratio. Therefore, robot misses the direction of target trajectory when giving priority to the trajectory guidance, the attainment to the target trajectory is delayed when giving priority to correction of the deflection angle. Then, the revision method to the target trajectory was examined. As a result, prompt approach to the target trajectory and smooth agreement with the travelling direction were able to be achieved simultaneously. Examination data of the revision algorithm and experimental result are shown in this paper.
