Method for mounting pattern in actual machine

A method for mounting a pattern in an automated guided vehicle, the pattern being drawn by dot-sequential data indicating a temporal variation in acceleration, the pattern corresponding to an instruction value provided to an actuator installed in the automated guided, comprising:

• deriving a curve function expressed as a finite series corresponding to an approximate expression for the dot-sequential data, said curve function uses time as an independent variable and the acceleration as a dependent variable;
• dividing the dot-sequential data into a plurality of parts to derive the finite series for each of the plurality of parts, said plurality of parts correspond to the pattern drawn by the dot-sequential data indicating the temporal variation in the acceleration, wherein the plurality of parts represent an accelerated running portion, a uniform-speed running portion and a decelerated running portion;
• storing, in a memory mounted in the automated guided vehicle, coefficients of terms constituting the finite series for the accelerated running portion and the decelerated running portion, and
• storing a constant in the memory indicating the temporal variation in acceleration, instead of the coefficients of the terms constituting the finite series for the uniform-speed running portion,
• wherein controlling the automated guided vehicle based on the data for the finite series for the accelerated running portion and the decelerated running portion and the constant for the uniform-speed running portion stored in the memory.