| 摘要 |
<p>A path planning device and method for making a plan of a smooth motion path of a moving body with a quick calculation of the path plan. The device has a motion path smoothing section for smoothing a motion path of a moving part of a robot by using a ternary polynomial function T(x) having three regions, i.e., a function value increasing region, a function value constant region, and a function value decreasing region. By smoothing the motion path of a moving body by using the ternary polynomial function, a smooth motion path of the moving body can be quickly calculated.</p> |
