INTERPOLATING SYSTEM OF COURSE OF ROBOT HAND

PURPOSE:To interpolate the course of a robot hand with a simple algorithm, by interpolating a polygonal line near an intermediate point with a curve when the intermediate point is set between teaching points to perform the curve interpolation. CONSTITUTION:Intermediate points P2 and P3 are set between a start point P1 and an end point P4. A length L1 of a line P1P2 and a length L2 of a bent line P2P3 on both sides of the intermediate point P2 are compared with each other, and the shorter bent line P2P3 is selected. Points Q1 and Q2 which are selected on both sides of the intermediate point P2 the half of the length L2of the bent line P2P3 apart from the intermediate point P2 are set as an interpolation start point and an interpolation end point respectively to perform the curve interpolation. Similarly, the interpolation start point Q2 and an interpolation end point Q3 are set on both sides of the intermediate point P3 to perform the curve interpolation. If 1/2XL2 exceeds a limit length, points which are the limit length apart from the intermediate point on lines on both sides of the intermediate point are set as an interpolation start point and an interpolation end point. Thus, the course of the robot hand is interpolated with a simple algorithm.