| 摘要 |
PURPOSE:To generate an indicating value by a smaller sampling period, and to move and control a body to be controlled, smoothly and with high accuracy, by interpolating a space against plural samples, joint angles and angular speeds. CONSTITUTION:When a start point and an end point have been provided, an operation processing part 1' generates a speed curve by which a movement in the axial direction ends simultaneously, from these data, in accordance with which a point on the moving curve extending from the start point to the end point is calculated at every sampling period. Subsequently, a sampling position Xk+m read in advance is outputted to a coordinate converting part 11, by (m) time point (m>=3). The coordinate converting part 11 converts the sampling position Xk+m outputted from the operation processing part 1', to each jount angle thetak+m, and outputs it to a locus interpolating part 12. The locus interpolating part 12 operates a value of each joint angle in the intermediate part of each sampling time point. |
