| 摘要 |
PROBLEM TO BE SOLVED: To provide a computing method generating no loop part on a spline curve in a robot controller in which a movement path of a robot arm end is set by curve interpolation based on a spline interpolation function. SOLUTION: An interval between the adjacent two instructions is defined as one section, and for each of sections, a start point side tangent vector T2s and an end point side tangent vector T2s having a dimension proportional to the length of a straight line L2 connecting instruction positions R1 and R2 at both ends together are computed. The start point side tangent vector T2s and the end point side tangent T2e are directed in the directions, in which an angle made between the straight line L2 and a straight line L1 connecting instruction positions R0 and R1 at both ends of a front one section together and an angle made between the straight line L2 and a straight line L3 connecting instruction positions R2 and R3 at both ends of a rear one section are divided into equal halves respectively. When a curve, on which the direction of the start point side tangent vector matches that of the end point side tangent vector of the front section, and a curve, on which the direction of the end point side tangent vector matches that of the start point side tangent vector of the rear section, are lined up for each section, a spline curve is computed. COPYRIGHT: (C)2007,JPO&INPIT
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