Trajectory interpolation method of industrial robot

摘要

PURPOSE:To obtain a controlling method of an industrial robot which has an operating function of a high level and realizes a smooth movement, by controlling a variation of differentiation of acceleration. CONSTITUTION:When a sampling point on the way is derived in locus interpolation, each position data is not processed separately but an important variation extent M is set from its data, and it is used as an operating parameter, so that each position data can be calculated from a variation extent L of its parameter. Also, unit differential acceleration (differentiation of acceleration) is set to a speed, a variation of acceleration is approximated to a triangle by controlling a variation of said speed, a variation of the speed is set to a tertiary form, and a sudden acceleration variation to the robot operation is eliminated. Also, when a servo-period is subdivided smaller than said interpolating period and its command value is smoothed, a response property of a servo-system is improved, and also vibration of the servo-system, which is generated at every period is reduced.