TRANSITION TRAJECTORY GENERATION BETWEEN NON-SMOOTHLY CONNECTED PATHS FOR INDUSTRIAL ROBOTS

摘要

An apparatus for transition trajectory generation between non-smoothly connected paths of industrial robots is provided to form a smooth curve by using a quintic spline curve as a connection curve between first and second curves. An angle detection process is performed to obtain the angle between an extension of a directional vector of P1 and an extension of a directional vector of P2 at a connection point(S11). A distance detection process is performed to obtain a distance from the intersection between the extension of the directional vector and a circle having an arbitrary radius to the connection point(S12). Connection points of a connective curve are determined(S13). A connective line is formed between the connection points by using a quintic spline curve(S14,S15). A path plane is formed by generating a speed profile for a moving distance.