Trajectory generation device and automatic position control device
A trajectory generation device configured to generate a trajectory along which a control target passes, the device including a storage unit configured to store a plurality of points, and a processor. the processor is configured to perform receiving process of receiving designated path information about a path designated by a user in a partial section between two points in the plurality of points, and trajectory generation process of generating a trajectory in the partial section by using the designated path information, a first path passing through the two points in the plurality of points and at least one anterior passing point through which the control target passes before passing through the two points, and a second path passing through the two points in the plurality of points and at least one posterior passing point through which the control target passes after passing through the two points.
1. A trajectory generation device configured to generate a trajectory along which a control target passes, the trajectory generation device comprising:
a storage unit configured to store a plurality of points through which the control target passes; and
a processor configured to perform:
a receiving process of receiving designated path information about a path designated by a user in a partial section between two points in the plurality of points, and
a trajectory generation process of generating, by using the designated path information, a first path passing through the two points in the plurality of points and at least one anterior passing point through which the control target passes before passing through the two points, and a second path passing through the two points in the plurality of points and at least one posterior passing point through which the control target passes after passing through the two points, a first expression of the trajectory in the partial section and a second expression of the trajectory in a following partial section between the partial section and the at least one posterior passing point,
the processor is configured to make the trajectory in the partial section to be one corresponding to a pass type indicated in the designated path information, and conduct the trajectory generation process so as to make first-order derivative values of the first expression and the second expression become equal at a point between the partial section and the following partial section, and
wherein the processor is configured to control the position of the control target to move the control target along the generated trajectory.
2. The trajectory generation device according to claim 1 , wherein the designated path information indicates that the pass type in the partial section is any one of a linear path, an arc path, an elliptic arc path, a spiral curved path, a quadratic-function curved path, and a cubic-function curved path.
3. The trajectory generation device according to claim 1 , wherein the anterior passing point, the two points, and the posterior passing point are four continuous points through which the control target passes in this order.
4. The trajectory generation device according to claim 1 , wherein the processor is configured to perform calculation process of calculating a first section path passing through the anterior passing point and the two points by using the first path and the designated path information, and a second section path passing through the two points and the posterior passing point by using the second path and the designated path information.
5. An automatic position control device configured to control a position of a control target, the automatic position control device comprising:
a trajectory generation device configured to generate a trajectory along which a control target passes; and
a controller configured to move the control target along the trajectory generated by the trajectory generation device,
wherein the trajectory generation device comprises:
a storage unit configured to store a plurality of points through which the control target passes; and
a processor configured to perform:
a receiving process of receiving designated path information about a path designated by a user in a partial section between two points in the plurality of points, and
a trajectory generation process of generating, by using the designated path information, a first path passing through the two points in the plurality of points and at least one anterior passing point through which the control target passes before passing through the two points, and a second path passing through the two points in the plurality of points and at least one posterior passing point through which the control target passes after passing through the two points, a first expression of the trajectory in the partial section and a second expression of the trajectory in a following partial section between the partial section and the at least one posterior passing point,
wherein the processor is configured to make the trajectory in the partial section to be one corresponding to a pass type indicated in the designated path information, and conduct the trajectory generation process so as to make first-order derivative values of the first expression and the second expression become equal at a point between the partial section and the following partial section.
6. The automatic position control device according to claim 5 , wherein
the controller configured to control motion of a robot arm, and
the control target is a distal end of the robot arm or an end effector that is attached to the distal end of the robot arm.