著者

仇 時雨 神谷 好承 青柳 誠司 岡部 佐規一 牧野 洋

出版者

一般社団法人 日本機械学会

雑誌

日本機械学会論文集 C編 (ISSN:03875024)

巻号頁・発行日

vol.57, no.542, pp.3240-3246, 1991-10-25 (Released:2008-02-21)

参考文献数

9

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When a robot is used for doing work such as laser processing or water-jet processing, not only the trajectory of the end-effector but also its velocity is very important from the viewpoint of the processing accuracy. On the other hand, several curve-interpolation methods have been suggested, but it is cannot be said with certainty that the correct velocity control of the trajectory is possible. In this study, in order to solve this problem, a method using the clothoidal curve is introduced, and this method enables the velocity control with high accuracy for any trajectory.

著者

仇 時雨 牧野 洋 須田 大春 横山 恭男

出版者

日本ロボット学会

雑誌

日本ロボット学会誌 (ISSN:02891824)

巻号頁・発行日

vol.8, no.6, pp.680-687, 1990-12-15 (Released:2010-08-25)

参考文献数

9

被引用文献数

2 3

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This paper describes the study on free curve interpolation using Clothoidal curve, which gives a new tool for high-speed continuous path control. Control schemes are proposed for the manipulator to pass the given series of points smoothly at a constant-speed. In the problem formulated a criterion of limiting curvature during the entire path of motion. The Clothoid or Cornu spiral is a planar curve which is used in high-way design. Its curvature is proportional to the length of the curve measured from the origin of the spiral. Using Clothoid segments, the point series interpolation method is established and by applying this method to the welding, painting, sealing and bonding robots, it is expected to obtain the faster continuous path motion. Theoretical analysis is given and some calculated results are shown.