发明名称 Robot controller and robot control method using spline interpolation
摘要 A determining unit determines tangent vectors at one and the other end of one spline curve segment of each section such that a length of each tangent vector is proportional to that of a first straight line connecting one end and the other end of the one spline curve segment, and that the tangent vectors at one end and the other end of the one spline curve segment are directed to divide, by a predetermined ratio, a first angle and a second angle, respectively. The first angle is formed by the first straight line and an extension of a second straight line connecting one and the other ends of a previous spline curve segment. The second angle is formed by the fist straight line and an extension of a third straight line connecting one and the other ends of a next spline curve segment.
申请公布号 US2007030271(A1) 申请公布日期 2007.02.08
申请号 US20060499813 申请日期 2006.08.07
申请人 DENSO WAVE INCORPORATED 发明人 KAMIYA KOJI
分类号 G06T11/20 主分类号 G06T11/20
代理机构 代理人
主权项
地址