Installation manual

Chapter 3. CONTROL MODE
３－10
（２）Arc & Circle Interpolation
Arc Interpolation Circle 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 ARK & CIRCL INTERPOLATION
1. Calculate the current tip position (P1) and the tip orientation (T1).
2. Calculate the tip position and the tip orientation (T2) of the passing point (P2).
3. Calculate the tip position and the tip orientation (T3) of the target value (P3). In the
case of the circle, P3-point is also the passing point.
4. Calculate the center point (O), the semi-diameter (r) and the normal vector (Vec) of
the circle trajectory from three points.
5. Calculate the angle of the tip accurate motion (θ
1
) from the tip position of the current
value P1 and P3. For the circle,θ
1
= 2π.
6. Calculate the rotation angle of the tip orientation (θ
2
) from the tip position of the
current value P1 and P3. For the circle,θ
2
= 0 (current orientation maintained.)
7. To simultaneously operate the position and the orientation, the standard must be
chosen.
8. 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.
9. 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 (P1) and the tip orientation (T1).
2. Calculate the tip position and the tip orientation (T2) of the passing point (P2).
3. Calculate the tip position and the tip orientation (T3) of the target value (P3). In the
case of the circle, P3-point is also the passing point.
4. Calculate the center point (O), the semi-diameter (r) and the normal vector (Vec) of the
circle trajectory from three points.
5. Calculate the angle of the tip accurate motion (θ
1
) from the tip position of the current
value P1 and P3. For the circle,θ
1
= 2π.
6. Calculate the rotation angle of the tip orientation (θ
2
) from the tip position of the
current value P1 and P3. For the circle,θ
2
= 0 (current orientation maintained.)
Tip Shifting Direction
P1
P2
P3
r
θ
1
Vec
0
P3
Orientation Rotation A
θ
P3
Vec
r
θ
1
0
P1
P2
Orientation rotation Angle:θ
2
= 0
Position Shifting rotation Angle: θ
1
= 2π
P1
7
-ax
i
s arm
f
unct
i
o
n