| 摘要 |
The present invention relates to a robot path planning method for determining the path of a robot, taking into consideration the bending effect of the robot path when heavy tools are load onto the robot. Specifically, straight line P'-Q' to be actually drawn by the distal end of the robot tool is calculated by using the positions P and Q of the distal end of the tool at the start point and at the end point of the straight line recognized by the robot controller. And, the interpolation points H1', H2', H3', . . . are set on this line P'-Q'. Then, the bending amount DELTA theta pj and DELTA theta qj at the start point P' and at the end point Q' of this line P'-Q' are respectively determined. And, the bending amount at each interpolation point H1', H2', . . . are calculated from these bending amounts DELTA theta pj and DELTA theta qj, and the position on the line P'-Q' of each interpolation point. Then, the values obtained by subtracting from each interpolation point H1', H2', . . . corresponding bending amounts are set as the interpolation points H1, H2, H3, . . . to be actually used in the robot controller.
|
