| 摘要 |
PURPOSE:To simply compensate the deviation of the trace by giving a command again as a new position data representing a coordinate in point-symmetry with respect to a passing point and a coordinate giving the shortest distance of a locus of the hand based on a command data to the passing point. CONSTITUTION:A control section 1, a position amplifier (a) and a speed amplifier (b) of a servo control 2 are constituted as a computer, teaching points P1-P3 are set and the teaching point is disregarded for the positioning. A point closest to the teaching point P2 among points on the locus 1 of the robot is set as a point P2' and a point P2'' symmetrical to the point P2' with respect to the teaching point P2 is considered to be the next teaching point and the robot is moved again. In this case, the robot is moved in the path of the locus 2,and a point P2''' closest to the point P2'' on the locus 2 is obtained by the similar processing, the teaching point P2'' is shifted by a distance (d) between the points P2''' and P2 to set a teaching point P2<4>'. Thus, the calculation to shift the teaching point is repeated and the path control of the robot on the locus passing through points close to substantial teaching point P2 whose positioning if disregarded is executed by having only to run the robot.
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