| 摘要 |
PURPOSE:To prevent a robot from being stopped at a passing point, by applying velocity control by velocity vectors toward the passing point and a targeted point, and performing no positioning control at the passing point. CONSTITUTION:The velocity control is performed by the velocity vectors Vdi, Vdi+1, and Vdi+2, from a start point Pio to the passing point Pi, from the passing point Pi to the passing point Pi+1, and from the passing point Pi+1 to the targeted point Po, and the positioning control is performed only at the targeted point Po. Since the velocity control for path movement is performed by using the velocity vector, it is possible to change a moving direction at the passing point according to the velocity vector, and no positioning control is performed. In other words, the coordinate of the passing point is used for the change of the velocity vector, not for positioning. Therefore, it is possible to prevent the robot from being stopped at the passing point unrequired to stop, and also, to smoothly operate each axis (joint).
|
