Installation manual

Chapter 3. CONTROL MODE
３－9
（１）Linear interpolation
＜
When the redundant axis control mode is NOT “S3-axis restriction” and “S3-axis
interpolation mode in 6-axis and 7-axis arm
＞
OUTLINE PROCEDURE FOR LINEAR INTERPOLATION
1. Calculate the current tip position and the tip orientation (Tc).
2. Calculate the target tip position and the tip orientation (Tr).
3. Calculate the tip moving distance (L) from the current tip position and the target
position.
4. Calculate the tip orientation/rotation angle (θ) from the current orientation and the
target tip orientation.
5. To simultaneously operate the position and the orientation, the standard must be
chosen.
6. Following the selected velocity control method, interpolate and calculate the target tip
position/target orientation (Ｔr
１
，･･･ ，Ｔr
ｎ－１
，Ｔr
ｎ
，･･･ Ｔr) of each sampling.
7. If the work coordinate conversion Matrix is designated, multiply “ Ｔ r
ｎ
” by the
coordinate conversion Matrix.
＜When the redundant axis control mode is “S3-axis restriction” and “S3-axis
interpolation mode＞
OUTLINE PROCEDURE FOR LINEAR INTERPOLATION
1. Calculate the current tip position and the tip orientation (Tc).
2. Calculate the target tip position and the tip orientation (Tr).
3. Calculate the tip moving distance (L) from the current tip position and the target
position.
4. Calculate the tip orientation/rotation angle (θ) from the current orientation and the
target tip orientation.
5. Calculate the S3-axis angle/rotation angle(θ
Ｓ３
) from the current S3-axis angle and
the target S3-axis angle.
6. To operate the position and the orientation, the standard for interpolation must be
chosen from the position, the orientation or the S3-axis.
7. Following the selected velocity control method, interpolate and calculate the target tip
position, the target orientation and the S3-axis of each sampling.
8. If the work coordinate conversion Matrix is designated, multiply “Ｔr
ｎ
” by the coordinate
conversion Matrix.
interpolation
Pc
Pr
Tip position shifting value: L
Tip orientation rotation angle: e
7
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i
s arm
f
unct
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