Curve interpolation method for performing velocity control during connecting motion of a robot

摘要

An interpolation method for enabling a robot to make a smooth connecting motion accompanied by velocity control even in the case where the connecting motion involves a nonzero-acceleration motion. During motion path planning for the robot, in order to perform an interpolation so that a point a.sup.(0) on a first motion path G and a point b.sup.(0) on a second motion path H may be smoothly connected by a connecting curve S, the connecting curve S being determined using a parameter including time instant t. First, a function p(T, t) satisfying boundary conditions (continuity of position, velocity, acceleration, etc.) corresponding to required smoothness C.sup.k is derived as a polynomial equation or the like including an unknown parameter T, and by optimizing a suitable evaluation function &egr;(T), T.sub.0 for keeping the velocity constant is obtained. Interpolation is performed using q(t)=p(T. sub.0, t) , whereupon a connecting motion, in which the velocity is controlled to a constant value, can be attained. Where a composite function (q. smallcircle.f)(t) including an adjustment function f(t) corresponding to a desired velocity transition pattern is used for the interpolation, the velocity can be varied in a desired manner during the connecting motion.