| 摘要 |
A system for controlling a hand of a robot in which a plurality of straight lines are continuously interconnected by parabolas through interpolation processing which can be realized solely by arithmetic linear interpolating function inherently incorporated in the robot, whereby the interpolation is effected on a real time base during operation of the robot with a decreased number of computations without requiring any additional program for driving the robot's hand (7), thus sparing the storage capacity. The inventive concept can be applied to arithmetic interpolation processing upon deceleration of the robot's hand. Additionally, attitude of the robot's hand can be precisely controlled through the disclosed interpolation by representing the attitude by two unit vectors. |
