JPS641008A - Locus interpolation control method - Google Patents
Locus interpolation control methodInfo
- 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
Links
Landscapes
- 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
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)
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)
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 |
-
1988
- 1988-02-17 JP JP63032835A patent/JP2648815B2/en not_active Expired - Lifetime
Patent Citations (2)
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)
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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Legal Events
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