Title:
ROBOT INTERPOLATION ARITHMETIC UNIT
Document Type and Number:
Japanese Patent JPH05341833
Kind Code:
A
Abstract:
PURPOSE:To quickly perform the interpolation arithmetic and to attain the real-time control of a robot by defining the moving directions of the robot set at 1st and 2nd teaching positions as target positions at the tip of a tool after calculating a circle where the tangential directions are set at each teaching position defined by the next teaching point as a point set on the circumference of the circle. CONSTITUTION:The moving direction V3 set at an intermediate teaching position P3 among the continuous teaching positions P2-P4 is calculated as the direction of a segment element which divides an angle into two equal parts. This angle is formed between a segment P2P3 connecting both points P2 and P3 together and a segment P3P4 connecting both points P3 and P4 respectively. Then a 1st circle C3 passing the position P4 serving as a final point is calculated with the direction V3 set at the position P3 serving as a start point defined as a tangent. At the same time, a 2nd circle C4 passing the position P3 is calculated with the moving direction V4 set at the position P4 defined as a tangent. Then a target position is calculated based on the positions of the start point through the final point set on the circumference of each circle at each time.
Inventors:
YAMANAKA NOBUYOSHI
SAMEJIMA YASUO
SAMEJIMA YASUO
Application Number:
JP15235292A
Publication Date:
December 24, 1993
Filing Date:
June 11, 1992
Export Citation:
Assignee:
KOMATSU MFG CO LTD
International Classes:
B25J9/06; B25J9/10; G05B19/4103; (IPC1-7): G05B19/415; B25J9/06; B25J9/10
Attorney, Agent or Firm:
Kimura Takahisa