SMOOTHING OPERATING METHOD OF ROBOT

摘要

The smoothing method makes the robot smoothly move without a transient stop when performing turning or rotating action. The method comprises the steps of: setting a constant velocity and an acceleration before starting a smoothing action; generating a transfer velocity curve from an initial position to the smoothing start position; generating a velocity curve from the smoothing start position to a use command position; generating a velocity curve from the smoothing start position to the finishing position; moving the robot to the finishing position by synthesizing the generated velocity curves.