クロソイド補間によるコーナ軌跡制御

DOI Web Site 被引用文献1件

書誌事項

タイトル別名
  • Corner path control using clothoidal interpolation.
  • クロソイド ホカン ニ ヨル コーナ キドウ セイギョ

この論文をさがす

抄録

In the continuous path (CP) controlling robots such as welding, painting, sealing and bonding robots, the circular arc interpolation is usually adopted to the rounding of the sharp edges of corners. However, by the discontinuity of curvature at the points connecting lines and arcs, it tends to cause vibration at the points. For the purpose, the authors developed a new method of corner interpola-tion which uses Clothoid curve. The curve has a continuously changing curvature which is proportional to the length of the curve. This report describes the basic theory and the computing method of the curve and gives the practical data for Clothoidal interpolation.

収録刊行物

  • 精密工学会誌

    精密工学会誌 56 (7), 1268-1273, 1990

    公益社団法人 精密工学会

被引用文献 (1)*注記

もっと見る

キーワード

詳細情報 詳細情報について

問題の指摘

ページトップへ