COURSE INTERPOLATING METHOD FOR ROBOT HAND

PURPOSE:To increase the PTP (point to point) operation speed by monotonously reducing the speed toward a turn point so that the speed is zero at the turn point and monotonously increasing the speed from zero from the turn point with respect to the component to the next turn point and interpolating the course of a robot hand so that it is a curve. CONSTITUTION:The speed is monotonously reduced from a point A toward a point B before arrival at the point B from the point A so that the speed is zero at the time of arrival at the point B, and the speed is monotonously increased from zero from the point B toward a point C, and the course is interpolated in this manner. That is, a synthesized vector of the vector in the direction, where the speed in the direction to the turn point is monotonously reduced so that it is zero at the turn point, and the vector in the direction, where the speed is monotonously increased from zero as the direction component from the turn point to the next turn point, is given to the robot hand before the turn point. Thus, the speed of the robot hand is continuous, and two vectors are only synthesized to obtain a curved course, and therefore, calculation is facilitated and the processing time is shortened.