POSITIONING POSTURE INTERPOLATION METHOD AND CONTROL DEVICE FOR ROBOT

摘要

PROBLEM TO BE SOLVED: To provide a positioning posture interpolation method for a robot capable of interpolating postures of fingers of the robot so as to make them satisfy fixed conditions.;SOLUTION: The positioning posture interpolation method for a robot includes steps of: generating interpolation points so as to make moving tracks passing respective teaching points form spline curves (S3); calculating coordinates of an imaging object on a coordinate system being the same as teaching points per each teaching point and generating interpolation points by interpolating distances among coordinates of the imaging object corresponding to respective teaching points with the spline curves (S4); calculating all approach vectors where an interpolation point at an teaching point side is set up to be a starting point and an interpolation point at an imaging object side is set up to be a termination point for all interpolation points (S5); and calculating orient vectors on the basis of cross products of approach and normal vectors stood on respective interpolation points (S7) after rotating angles of the normal vectors on respective interpolating points between two teaching points are interpolated (S6). The postures of fingers on respective interpolation points are determined from the coordinates of respective interpolation points and three posture vectors.;COPYRIGHT: (C)2013,JPO&INPIT