| 摘要 |
<p>An interpolation method for enabling a robot to make a smooth connecting motion accompanied by velocity control even in the case where the connecting motion involves a nonzero-acceleration motion. During motion path planning for the robot, in order to perform an interpolation so that a point a<(0)> on a first motion path G and a point b<(0)> on a second motion path H may be smoothly connected by a connecting curve S, the connecting curve S being determined using a parameter including time instant t. First, a function p(T, t) satisfying boundary conditions (continuity of position, velocity, acceleration, etc.) corresponding to required smoothness C<k> is derived as a polynomial equation or the like including an unknown parameter T, and by optimizing a suitable evaluation function epsilon (T), T0 for keeping the velocity constant is obtained. Interpolation is performed using q(t) = p(T0, t), whereupon a connecting motion, in which the velocity is controlled to a constant value, can be attained. Where a composite function (q &cir& f)(t) including an adjustment function f(t) corresponding to a desired velocity transition pattern is used for the interpolation, the velocity can be varied in a desired manner during the connecting motion. <IMAGE></p> |
