ERROR COMPENSATION METHOD FOR THE ELLIPTICAL TRAJECTORY OF INDUSTRIAL ROBOT

摘要

An interpolation method for an elliptical trajectory of an industrial robot is provided to achieve improved accuracy of work of the robot by teaching four to six points from among points of the elliptical trajectory of the robot. An interpolation method for an elliptical trajectory of an industrial robot, includes a first step(S10) of permitting a controller to be taught by a user four to six points including a start point from the elliptical trajectory of the robot sensed by a sensing unit and derive coordinates of points on a three dimension; a second step(S20) of determining a plane by using points forming the elliptical trajectory derived in the first step; a third step(S30) of projecting points derived by the first step onto the plane determined in the second step, and deriving two-dimensional coordinates of points; a fourth step(S40) of deriving an elliptical equation by using the coordinates derived in the third step; and a fifth step(S50) of converting the elliptical equation derived in the fourth step into three-dimensional coordinates.