Robot controller and robot control method using spline interpolation
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United States of America Patent
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Issued Date -
Feb 8, 2007
app pub date -
Aug 7, 2006
filing date -
Aug 5, 2005
priority date (Note) -
Abandoned
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Abstract
A determining unit determines tangent vectors at one and the other end of one spline curve segment of each section such that a length of each tangent vector is proportional to that of a first straight line connecting one end and the other end of the one spline curve segment, and that the tangent vectors at one end and the other end of the one spline curve segment are directed to divide, by a predetermined ratio, a first angle and a second angle, respectively. The first angle is formed by the first straight line and an extension of a second straight line connecting one and the other ends of a previous spline curve segment. The second angle is formed by the fist straight line and an extension of a third straight line connecting one and the other ends of a next spline curve segment.
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