| 摘要 |
<P>PROBLEM TO BE SOLVED: To eliminate unnecessary motions from a motion path and regenerate a smooth motion path. <P>SOLUTION: A smooth motion path generating device includes: a motion path storing means; a path waypoint setting means; a path waypoint storing means; a path waypoint pair adopting means for adopting a pair of path waypoints including a path waypoint and another waypoint to be paired among waypoints; a midpoint calculating means for obtaining a midpoint between a path waypoint and another path waypoint by a calculation formula, (position data of a path waypoint+position data of another path waypoint)/2; and a midpoint interference checking means for determining whether the midpoint interferes with an obstacle. When the midpoint interferes with the obstacle, a current motion path is adopted (S7). When the midpoint does not interfere with the obstacle, the midpoint is adopted as a new path waypoint, and a smooth path generating step of selecting a new motion path from a path waypoint to another path waypoint through the new path waypoint (S6). <P>COPYRIGHT: (C)2012,JPO&INPIT |
