| 摘要 |
PURPOSE:To form a locus in a short time and to secure the excellent servo control properties by combining an equi-speed arc locus and an acceleration/ deceleration linear locus obtained by a quadruple polynomial related to time and forming an arc locus with addition of acceleration and deceleration. CONSTITUTION:The time 2ta needed for acceleration is decided and the position on an arc locus that is away from a position A by an amount equal to a linear shift carried out for the time ta at a fixed linear speed is defined at A<+>. While a position which is ahead of the position A by the time ta against the scheduled shift start time point is defined as A<->. Then the coordinate values xi, yi and zi of a position Pi between positions A and A<+> are defined as shown in equations. In such a way of formation of a locus, the continuous linear accelerations are secured at a terminal point in case other equi-linear speed loci (having linear acceleration set at zero) are connected to the preceding and next linear loci. Here both positions A<+> and A<->, i.e., xa<+>, ya<+>, za<+>, xa<->, ya<-> and za<-> can be obtained previously, therefore it is just required to calculate those equations for each sampling time in a drive mode of such a mechanism.
|
