| 摘要 |
Path-generation method for a robotised system (4) comprising at least one member (5) making it possible to vary, in real time, the speed of movement. The method consists in choosing a main movement, for example the translational movement of the member, to which all the others are slaved. The main movement is fulfilled on the trajectory broken down into lengths at a speed ensuring the possibility of stopping the member at the end of the length which follows the one which is being travelled. The slaved movements are travelled as far as possible in synchronism with the main movement. The invention may apply for example to the automatic deburring of components of complex shape. It is possible to envisage robotised systems formed of several solids which can move independently and which are coordinated by the method, or several slaving (automatic control) orders. <IMAGE>
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