| 摘要 |
PROBLEM TO BE SOLVED: To provide a three-dimensional track formation method of a robot, capable of accelerating an arithmetic operation by a small arithmetic operation quantity, when forming a three-dimensional track of the robot.SOLUTION: The three-dimensional track formation method of a robot 1 according to the present invention determines a starting end 12 and a tail end 13 of a locus 20 of the robot drawn on a track for moving the robot 1 and through-points 21 and 22 of the locus up to reaching the tail end 13 from the starting end 12, calculates a coefficient by a coefficient matrix by setting the coefficient matrix including the whole coefficients on a three-dimensional element for expressing a space when determining a coefficient of a sectional polynominal for expressing the locus 20 divided by respective time sections for passing between the respective through-points on the basis of the passing time, calculates the locus by the sectional polynominal using the coefficient, and enables a computer to execute processing for generating the track by a synthetic function formed by applying the function satisfying a boundary condition in the starting end 12 and the tail end 13 to a parameter of the sectional polynominal. |
