| 摘要 |
The system is adapted for a machine tool having a rotary shaft as in a cylindrical coordinate robot. When the arm (3) of an industrial robot is, for example, rotated to move a wrist (2) attached to the end of the arm (3) from the start point (P1) to the end point (P2). A linear line (Ln) is provided for connecting the start point (P1) to the end point (P2) and is divided into a number of zones (..Qi, Q(i+1)..) to generate axial position data at respectively divided points. A linear interpolation is conducted suing the respective data in the respective zones to move the wrist (2) aproximately linearly along the line.
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