| 摘要 |
PURPOSE:To realize an interpolating action in case a work is held against a fixed tool for working of an industrial robot, by using a transformation matrix into a control point from a wrist flange of each point. CONSTITUTION:An end effect matrix is obtained between a tool coordinate system and a flange coordinate system for each teaching point from the tool coordinate system which defines the control point of a tool held independently of a robot as an original point and the flange coordinate system fixed at an attachment flange of the tool. In a play back state, a difference matrix is obtained to show the change value between the end effector matrices corresponding to optional teaching points to be interpolated. Then an increment matrix is obtained when a matrix is changed from a unit matrix to the difference matrix. Furthermore, a flange matrix is obtained from the end effector matrix set at a start point of interpolation, the increment matrix, and a transformation matrix set between a robot coordinate system and the tool coordinate system. Then the inverse transformation is carried out so that the motor position of each axis is obtained.
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