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Interpolation processes for robot memory
Interpolation processes for robot memory
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机译：机器人记忆的插补处理
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摘要
PURPOSE:To smoothly move the robot on a path by deriving acceleration at the time when a first speed is varied to a second speed, and allowing the robot to be subjected to equal acceleration variation in the direction of the acceleration, while being subjected to equal speed variation at a first speed to a break point, cased on a first speed and the acceleration. CONSTITUTION:Acceleration at the time when a first speed V1 is varied to a second speed V2 is derived from a first speed V1 on a path before a break point B of a polygonal line path 1, and a second speed V2 on a path after the break point B of the polygonal path 1. Subsequently, based on a first speed V1 and the acceleration, a robot is subjected to equal acceleration variation in the direction of the acceleration, while being subjected to equal speed variation at a first speed V1 to a break point B. In such a way, even in the case a path interpolation is executed to the polygonal path 1, the robot can be moved smoothly on the path without giving any shock thereto.
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