| 摘要 |
PURPOSE:To improve the accuracy by providing a reverse command circuit giving a new command changing the moving speed reverse to a robot to a controller having a command storage circuit, a speed change point of time calculating circuit, a command output circuit and a delay calculation circuit. CONSTITUTION:The robot 10 is provided with drive mechanisms 12, 22, 32 respectively for X axis 11, Y axis 21 and Z axis 31, position sensors 13, 23, 33 and detection circuits 14, 24, 34. Then a command storage means 2 of a robot controller 1 stores a group of commands given sequentially to a robot element as time progresses. Further, a vari-speed point of time calculation means 3 calculates a vari-speed point of time when the moving speed of the robot element changes according to the prescribed pattern before and after based on the command. When a present value to the command is delayed, the delay is calculated 5. Then a new command changing the moving speed reversely is given to the robot in place of the stored and command at a prescribed time before and after the vari-speed point of time. |
