| 摘要 |
PROBLEM TO BE SOLVED: To provide the interpolating method which enables smooth connecting operation accompanying speed control even for the connecting operation of the robot in which acceleration nonzero operation is concerned. SOLUTION: For interpolation for smoothly connecting a point a<(0)> on an arc track G and a point b<(0)> on an arc track H by a connection curve S, the connection curve S is determined by parameter representation using time (t). A function p(T, t) which meets boundary conditions (continuity of position, speed, acceleration, etc.) corresponding to requested smoothness C<k> is preread as a polynomial, etc., including an unknown parameter T and T0 which holds the speed constant is found by optimizing a proper evaluation functionε(T). Connecting operation whose speed is controlled to a constant value can be performed by performing interpolation by using this q(t)=p(T0 , t). The speed at the connecting operation time can freely be varied by using a composite function (q○f)(t) using an adjustment function f(t) corresponding to a desired speed variation pattern for interpolation calculation.
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