Corner path control using clothoidal interpolation.
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- QIU Shi-yu
- 学生会員 金沢大学工学部
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- MAKINO Hiroshi
- 正会員 山梨大学工学部
Bibliographic Information
- Other Title
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- クロソイド補間によるコーナ軌跡制御
- クロソイド ホカン ニ ヨル コーナ キドウ セイギョ
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Abstract
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.
Journal
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- Journal of the Japan Society for Precision Engineering
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Journal of the Japan Society for Precision Engineering 56 (7), 1268-1273, 1990
The Japan Society for Precision Engineering
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Details 詳細情報について
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- CRID
- 1390001204764493184
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- NII Article ID
- 110001370382
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- NII Book ID
- AN1003250X
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- ISSN
- 1882675X
- 09120289
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- NDL BIB ID
- 3673705
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- Text Lang
- ja
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- Data Source
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- Abstract License Flag
- Disallowed