METHOD AND APPARATUS FOR FREE CURVE INTERPOLATION

摘要

A path, the object of an interpolation command, is a free curve expressed by a vector P(k). This curve is divided into sections at predetermined intervals, and tangential vectors P'(k1) and P'(k2) are determined at the ends of each section. Acceleration vectors in the sections are then determined from these data and a command speed (F). If each axial component of the acceleration vector so obtained exceeds a predetermined acceleration limit for each axis, the command speed (F) in that section is changed and reduced so that the axial component does not exceed the limit.