| 摘要 |
PURPOSE:To shorten the arithmetic processing time of position data by forwardly transforming position data of each selected lattice point in advance to data of a robot working coordinate system which is an orthogonal coordinate system and storing this data in a buffer memory or the like. CONSTITUTION:Point data is set at each lattice point in accordance with the position of a hand and the mode of attitude control in a robot controller consisting of a CPU 1, a ROM 2, a RAM 3, a servo control circuit 6, etc. When linear movement between two points is commanded by point data, a proper mark is added to a memory area, and data is transferred to a buffer memory when this mark is read at the time of palletizing, and data is read out from the buffer memory. Data requiring forward transformation is preliminarily stored as table data in the buffer memory, and data used for locus control is stored in each joint buffer or the like without being reversely transformed. Thus, the forward transformation and reverse transformation processings are unnecessary at the time of controlling the position and the attitude of the robot hand to shorten the operation processing time of position data.
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