Installation manual

Chapter 3. CONTROL MODE
３－8
３．４ RMRC Tip Interpolation
The method to shift a manipulator tip position/orientation to the next target
position/orientation in the trajectory control mode is explained here.
Tip position/orientation interpolation methods currently provided in PA10 are three as
follows:
･Linear Interpolation ･･･The tip trajectory is straight. The tip orientation is
concurrently interpolated, too.
･
Arc Interpolation ･･･The tip trajectory is an arc. The tip orientation is
concurrently interpolated, too.
・Circle Interpolation ･･･The tip trajectory is a circle.
The target tip position/orientation “Ｔ r
ｎ
” is calculated from interpolation every
sampling period to shift on the trajectory to the target position/orientation from the
current position/orientation.
For the 7-axis arm, when the redundant axis control modes – “S3-axis restriction”
and “S3-axis interpolation” – are selected and the interpolation above is operated,
the S3-axis angle deviation (difference between the current angle and the target
angle) is simultaneously interpolated and target “S3-axis” angles are calculated every
sampling period.
For trajectory interpolation methods, the target tip position/orientation trajectory
(command angle) is calculated for velocity to form the letter “S” shape.
Refer to the section 3.5 for velocity control.
7-axis arm functio
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