Trajectory control apparatus and trajectory control method for i

Details Trajectory control apparatus and trajectory control method for i Trajectory control apparatus and trajectory control method for i

1997-11-20

2000-02-08

Gordon, Paul P.

Data processing: generic control systems or specific application

Specific application, apparatus or process

Robot control

700252, G05G 1500

Patent

active

060236450

ABSTRACT:
In a trajectory control method for an intra-planar multifreedom SCARA type of robot, a positional increment for an arm tip is computed for a linear interpolating operation through the expression described below. Namely, the expression is Vn=L.sub.1 .multidot.sin(.theta..sub.2).multidot.J.sub.1, wherein Vn indicates a positional increment of an arm tip; L.sub.1 indicates a length of a first arm; .theta..sub.2 indicates an angle of a second joint; and J.sub.1 indicates an angular velocity of a first joint (instructed angular velocity) specified by a user.

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