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Reference Guide for a 2-Axis Robot Arm with 2-Phase Stepping
Motors Incorporating Resolvers
2.4 Implementation Method
Sections 2.4.1 to 2.4.3 show calculations used in the implemented functions.
2.4.1 Calculations for Interpolation
Calculate coordinates for interpolating the coordinates in motion between two points.
• Linear interpolation
Y
Linear interpolation of the position of the robot arm's tip
Velocity V
(t)
xy
Interpolated coordinates
●
P
(X
,Y
)
1
1
1
Assuming the velocity is V_X or V_Y and the trajectory velocity is V_xy (t), the velocity is divided by the
amounts of X-axis and Y-axis motion.
( ���� ) ×
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= ����
����
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( ���� ) ×
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= ����
� ( ����
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Calculate the interpolated coordinates from ����
X ( t ) = ����
+ ����
1
����
Y ( t ) = ����
+ ����
1
����
R01AN5644EJ0100 Rev.1.00
Jan 22, 2021
P
(X
,Y
)
2
2
2
●
Ｘ
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− ����
2
1
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)
+ ( ����
)
− ����
− ����
2
2
1
2
1
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− ����
2
1
)
+ ( ����
)
− ����
− ����
2
2
2
1
2
1
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× ����
× ����
2
, ����
����
.
RX24T, RX72M,
RAA3064002GFP/RAA3064003GFP
Page 40 of 62
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