| 摘要 |
PROBLEM TO BE SOLVED: To improve the processing speed by reducing the number of calculations for finding out a curvature and reducing the whole calculation throughput in order to solve such a conventional problem that much throughput is required, much processing time is required and necessary processing can not be completed within a fixed time because the whole curve is divided into plural fine curves and the curvatures of respective fine curves are found out. SOLUTION: In the curve interpolation method for a motion controller for controlling the moving loci of various machines, plural substitutive points (A, C, D, E, B) of one of plural partial curves constituting the whole curve are set up (step 403), and when a curve of all the substitutive points in the partial curve is included in a curvature change allowance range (YES in step 404), the partial curve is divided into plural straight lines corresponding to a curvature value (step 405) and interpolation processing similar to straight interpolation is executed (steps 407-409). When the curve of the substitutive points is not included in the curvature change allowance range (NO in the step 404), divided curves are newly generated.
|
