JPS641008A - Locus interpolation control method - Google Patents

Locus interpolation control method

Info

Publication number
JPS641008A
JPS641008A JP3283588A JP3283588A JPS641008A JP S641008 A JPS641008 A JP S641008A JP 3283588 A JP3283588 A JP 3283588A JP 3283588 A JP3283588 A JP 3283588A JP S641008 A JPS641008 A JP S641008A
Authority
JP
Japan
Prior art keywords
point
clothoid
curve
curvature
control method
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
JP3283588A
Other languages
Japanese (ja)
Other versions
JPH011008A (en
JP2648815B2 (en
Inventor
Hiroshi Makino
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
USC Corp
Original Assignee
USC Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by USC Corp filed Critical USC Corp
Priority to JP63032835A priority Critical patent/JP2648815B2/en
Publication of JPH011008A publication Critical patent/JPH011008A/en
Publication of JPS641008A publication Critical patent/JPS641008A/en
Application granted granted Critical
Publication of JP2648815B2 publication Critical patent/JP2648815B2/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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  • Numerical Control (AREA)

Abstract

PURPOSE: To obtain a smooth and less waved curve adaptive to quick motion by using the curve (clothoid) whose curvature is changed in proportion to extension of the curve.
CONSTITUTION: It is supposed that straight lines l1 and l2 are given by coordinates of points P1WP4 if these lines form an arbitrary angle α. The curvature at the point P2 is 0 and that at the point P3 is zero, and a clothoid has only one point where the curvature is zero. Therefore, a pair of clothoids are used, and advanced one of perpendiculars drawn from points P2 and P3 to a bisector l3 of the angle between two straight lines is extended to the straight line, from which the other perpendicular is drawn, as it is for the purpose of securing the symmetry between the pair of clothoids. In such a case, the straight line is extended from the point P2 to the point P0. The origin is transferred to the point P0 and the (x) axis is defined as the direction of the line l1. Thus, a coefficient of measure is determined to describe a clothoid P0-Pm. A clothoid Pm-P0' is calculated as a curve symmetrical to said clothoid.
COPYRIGHT: (C)1989,JPO&Japio
JP63032835A 1987-02-23 1988-02-17 Trajectory interpolation control device Expired - Lifetime JP2648815B2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP63032835A JP2648815B2 (en) 1987-02-23 1988-02-17 Trajectory interpolation control device

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP62-39770 1987-02-23
JP3977087 1987-02-23
JP63032835A JP2648815B2 (en) 1987-02-23 1988-02-17 Trajectory interpolation control device

Publications (3)

Publication Number Publication Date
JPH011008A JPH011008A (en) 1989-01-05
JPS641008A true JPS641008A (en) 1989-01-05
JP2648815B2 JP2648815B2 (en) 1997-09-03

Family

ID=26371419

Family Applications (1)

Application Number Title Priority Date Filing Date
JP63032835A Expired - Lifetime JP2648815B2 (en) 1987-02-23 1988-02-17 Trajectory interpolation control device

Country Status (1)

Country Link
JP (1) JP2648815B2 (en)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5446420A (en) * 1993-08-25 1995-08-29 Motorola, Inc. Method and apparatus for reducing jitter and improving testability of an oscillator
WO1997008596A1 (en) * 1995-08-31 1997-03-06 Fanuc Ltd Curve interpolation method for carrying out speed control operation when robot makes connecting action
DE102005058809A1 (en) * 2005-12-09 2007-06-14 Hella Kgaa Hueck & Co. path planning
JP2011145797A (en) * 2010-01-13 2011-07-28 Muscle Corp Track generation method and track generation device

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS58120482A (en) * 1981-12-29 1983-07-18 富士通株式会社 Track control system of robot
JPS61193203A (en) * 1985-02-21 1986-08-27 Amada Co Ltd Circular interpolation method in machine tool

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS58120482A (en) * 1981-12-29 1983-07-18 富士通株式会社 Track control system of robot
JPS61193203A (en) * 1985-02-21 1986-08-27 Amada Co Ltd Circular interpolation method in machine tool

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5446420A (en) * 1993-08-25 1995-08-29 Motorola, Inc. Method and apparatus for reducing jitter and improving testability of an oscillator
WO1997008596A1 (en) * 1995-08-31 1997-03-06 Fanuc Ltd Curve interpolation method for carrying out speed control operation when robot makes connecting action
US5988850A (en) * 1995-08-31 1999-11-23 Fanuc, Ltd. Curve interpolation method for performing velocity control during connecting motion of a robot
DE102005058809A1 (en) * 2005-12-09 2007-06-14 Hella Kgaa Hueck & Co. path planning
JP2011145797A (en) * 2010-01-13 2011-07-28 Muscle Corp Track generation method and track generation device

Also Published As

Publication number Publication date
JP2648815B2 (en) 1997-09-03

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