When a robot is used for doing work such as laser processing or water-jet processing, not only the trajectory of the end-effector but also its velocity is very important from the viewpoint of the processing accuracy. On the other hand, several curve-interpolation methods have been suggested, but it is cannot be said with certainty that the correct velocity control of the trajectory is possible. In this study, in order to solve this problem, a method using the clothoidal curve is introduced, and this method enables the velocity control with high accuracy for any trajectory.
