Velocity-variation minimization control method for robot

摘要

A velocity-variation minimization control method for a robot includes the steps of substituting a position vector for a start point, a velocity vector for the start point, a position vector for an end point, a velocity vector for the end point, and a provisional movement time into equations that express the position and velocity of the robot as cubic functions with respect to time, to obtain solutions for coefficients of the cubic functions. A sum of squares of differences between a velocity obtained using the coefficients and a target velocity is obtained. Then using convergence calculations are performed to obtain a value of the movement time that minimizes the sum of squares. The robot is then controlled in such a manner that the effector of the robot follows a path based on the converged movement time.