METHOD FOR CIRCULAR ERROR COMPENSATION OF ROBOT

摘要

The present invention relates to a method of circular interpolation of a robot, and more particularly, to a circular interpolation method of a robot capable of drawing an arc in a smooth motion without impact at the start and end points of the circular arc during interpolation.;That is, the circular interpolation method of the robot according to the present invention has the advantage of enabling high-speed and high-precision circular interpolation without vibration and shock using S-self deceleration as shown in Equation (7).