Manipulator with controlled path motion.

摘要

An articulated manipulator (10) and control (35) are provided for controlled motion of a function element (31) carried by the manipulator. The motion is defined by input signals specifying with respect to a rectangular co-ordinate system the positions and path velocities therebetween of a centrepoint (34) associated with the function element (31). The control (35) interpolates intermediate points (P,) along a predetermined path between any two positions (Po, PI). The intermediate points (P;) are produced in accordance with a fixed period interval (t) and incremental velocity values (VK) instantaneously variable with each interval. Continuous functions of acceleration and deceleration are produced to vary the velocity in accordance with the programmed description of motion. Further velocity adjustment is permitted in accordance with unprogrammed variations of a preselected parameter.