ORBIT GENERATOR, AUTOMATIC POSITION CONTROL DEVICE AND ORBIT GENERATION METHOD

• Main Authors: HIRAKAWA MANABU, ICHINOSE MASAKAZU
• Format: Patent
• Language: English; Japanese
• Published: 03.06.2021
• Subjects: CHAMBERS PROVIDED WITH MANIPULATION DEVICES; CONTROL OR REGULATING SYSTEMS IN GENERAL; CONTROLLING; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; HAND TOOLS; MANIPULATORS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS; PERFORMING OPERATIONS; PHYSICS; PORTABLE POWER-DRIVEN TOOLS; REGULATING; TRANSPORTING

To provide an orbit generator for highly accurate position control.SOLUTION: The orbit generator is a device that generates orbits passing through n points P1, P2, ..., Pn, calculates a first partial orbit represented by a first curve between i-th point Pi and i + 1-th point Pi+1 defined by 4 points Pi-1, Pi, Pi+1, Pi+2 from i-1-th to i+2-nd and a second partial orbit represented by a second curve between i+1-th point Pi+1 and i+2-nd point Pi+2 defined by 4 points Pi, Pi+1, Pi+2, Pi+3 from i-th to i+3-rd where 1≤i≤n-2 holds, and the values of the first, second and third derivatives of the first curve at point Pi+1 match respectively the values the first, second and third derivatives of the second curve at point Pi+1.SELECTED DRAWING: Figure 2 【課題】高精度な位置制御のための軌道生成装置を提供する。【解決手段】軌道生成装置は、ｎ個の点Ｐ１，Ｐ２，...，Ｐｎを通過する軌道を生成する装置であって、第１の曲線によって表され、ｉ−１番目からｉ＋２番目の４つの点Ｐｉ−１，Ｐｉ，Ｐｉ＋１，Ｐｉ＋２によって定義されるｉ番目の点Ｐｉとｉ＋１番目の点Ｐｉ＋１との間の第１の部分軌道と、第２の曲線によって表され、ｉ番目からｉ＋３番目の４つの点Ｐｉ，Ｐｉ＋１，Ｐｉ＋２，Ｐｉ＋３によって定義されるｉ＋１番目の点Ｐｉ＋１とｉ＋２番目の点Ｐｉ＋２との間の第２の部分軌道とを算出し、ただし、１≦ｉ≦ｎ−２であり、点Ｐｉ＋１での第１の曲線の第１、第２および第３の導関数の値が、点Ｐｉ＋１での第２の曲線の第１、第２および第３の導関数の値とそれぞれ一致する。【選択図】図２