JPS6450181A - Locus control interpolating method - Google Patents

Locus control interpolating method

Info

Publication number
JPS6450181A
JPS6450181A JP62206100A JP20610087A JPS6450181A JP S6450181 A JPS6450181 A JP S6450181A JP 62206100 A JP62206100 A JP 62206100A JP 20610087 A JP20610087 A JP 20610087A JP S6450181 A JPS6450181 A JP S6450181A
Authority
JP
Japan
Prior art keywords
points
point
curvature
clothoid
interpolation
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
JP62206100A
Other languages
Japanese (ja)
Other versions
JP3000101B2 (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 JP62206100A priority Critical patent/JP3000101B2/en
Priority to SE8802888A priority patent/SE8802888L/en
Priority to IT67758/88A priority patent/IT1223771B/en
Publication of JPS6450181A publication Critical patent/JPS6450181A/en
Application granted granted Critical
Publication of JP3000101B2 publication Critical patent/JP3000101B2/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/41—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by interpolation, e.g. the computation of intermediate points between programmed end points to define the path to be followed and the rate of travel along that path

Landscapes

  • Engineering & Computer Science (AREA)
  • Computing Systems (AREA)
  • Theoretical Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Image Generation (AREA)
  • Complex Calculations (AREA)

Abstract

PURPOSE:To obtain an extremely smooth and little wavy interpolation curve by selecting clothoid curves, connecting some of these and making a tangent direction and a curvature on the connecting points continuous. CONSTITUTION:When the coordinates of two points P1 and P2, and a curvature Cv1 and a tangent direction phi1 of the P1 pint are given, one or two clothoid curves to pass these two pints can be drawn. When the position of the P2 point is reasonable, one, and when it is an unreachable position, two clothoid curves are connected as the continuity of a CV and a phi. Even at the time of more than three point, when a point spring itself is smooth, they can be connected by one clothed. Thus, for example, when an illustrated point string 1-12 is given, these points can be connected. On a figure to show the broken-line of the CV to obtain a first approximate value, one straight line is equivalent to one clothoid. The first approximate value of the CV makes the curvature of a circle passing three points including the front and the rear points into the curvature of the point. A circular interpolation is executed to one part between points 5 and 6 and a straight-line interpolation is executed to one part between points 11 and 12.
JP62206100A 1987-08-19 1987-08-19 Trajectory control interpolation method Expired - Lifetime JP3000101B2 (en)

Priority Applications (3)

Application Number Priority Date Filing Date Title
JP62206100A JP3000101B2 (en) 1987-08-19 1987-08-19 Trajectory control interpolation method
SE8802888A SE8802888L (en) 1987-08-19 1988-08-12 SET TO REGULATE INTERPOLATION
IT67758/88A IT1223771B (en) 1987-08-19 1988-08-12 METHOD OF CONTROL OF THE INTERPOLATION OF A PLACE OF POINTS

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP62206100A JP3000101B2 (en) 1987-08-19 1987-08-19 Trajectory control interpolation method

Publications (2)

Publication Number Publication Date
JPS6450181A true JPS6450181A (en) 1989-02-27
JP3000101B2 JP3000101B2 (en) 2000-01-17

Family

ID=16517804

Family Applications (1)

Application Number Title Priority Date Filing Date
JP62206100A Expired - Lifetime JP3000101B2 (en) 1987-08-19 1987-08-19 Trajectory control interpolation method

Country Status (3)

Country Link
JP (1) JP3000101B2 (en)
IT (1) IT1223771B (en)
SE (1) SE8802888L (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4865220B2 (en) * 2002-05-08 2012-02-01 ハーマン インターナショナル インダストリーズ インコーポレイテッド Navigation map generation system

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6111588A (en) * 1996-12-05 2000-08-29 Adobe Systems Incorporated Creating and modifying curves on a computer display
CN104011158B (en) 2011-12-21 2017-04-05 日东电工株式会社 The adhesive tape for preventing aquatile from adhering to
BR112017021691A2 (en) 2015-04-08 2018-07-10 Nitto Denko Corp masking tape to prevent adhesion of aquatic organisms
CN111322373B (en) * 2020-03-12 2021-05-11 长安大学 Gear pair design method based on claw helix rack knife

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
ROBOTICS RESEARCH=1986 *

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4865220B2 (en) * 2002-05-08 2012-02-01 ハーマン インターナショナル インダストリーズ インコーポレイテッド Navigation map generation system

Also Published As

Publication number Publication date
IT8867758A0 (en) 1988-08-12
JP3000101B2 (en) 2000-01-17
SE8802888D0 (en) 1988-08-12
IT1223771B (en) 1990-09-29
SE8802888L (en) 1989-02-20

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