| 摘要 |
PURPOSE:To enable control of a robot that creates trochoidal passage of movement by teaching positional data of two points that gives main passage to be worked and another point that gives width and inputting information of working width and information of working speed. CONSTITUTION:Positions P1, P2 are taught to the tip of arm (polishing head 4) of the body 1 of a robot as the length of main passage of the center of an area to be worked by operating a controlling board 2 and a teaching box 3. A position P3 which is 1/2 of the width of extent to be worked is taught to the segment P1, P2. Further, diameter D of the head 4 and moving speed V from the position P1 to P2 are inputted from the controlling board 2 as data. These data are converted to controlling data that operates the body 1 in the computer. That is, a locus of a circle having a segment P1, P2 as radius and P1 as the center that moves on the segment P1, P2 at a speed V. The locus becomes a trochoid curve, and it becomes possible to operate a robot in a passage suitable for polishing work etc. |
