| 摘要 |
<p>A control unit (34) for estimating a speed of a robot tool center point including a path or trajectory planner (38) and an interpolator (40). The planner (38) receives a correct position of a load (18) on a first line (28) and a command or destination position signal on a second line (42) from a user interface (36). In turn, the planner (38) outputs trajectory parameters on a third line (44) to the interpolator (40). The interpolator (40) takes the trajectory parameters, performs path interpolation and outputs a smoothed blended Cartesian velocity command on a fourth line (46) to a servo controller (24).</p> |
