MOVING ROUTE CONTROL METHOD BY SPLINE INTERPOLATION

摘要

PROBLEM TO BE SOLVED: To perform moving route control by spline interpolation applicable even in the case that a target position of a moving route is dynamically changed by performing the interpolation to the position moved in a prescribed cycle in a direction of the target position from the present position. SOLUTION: In a polynomial spline interpolation method of a cubic polynomial spline interpolation system or the like for instance, a spline coefficient is recalculated every time of performing the spline interpolation in the time (sampling cycle) T* extremely shorter than the interpolation time T from the initial position to the target position of the moving route so as to be 0