| 摘要 |
<P>PROBLEM TO BE SOLVED: To make a tool top end follow an orbit whose shape is much closer to a circular-arc shaped section even when a position where the tool top end enters a linear section from the circular-arc shaped section is not given for correct teaching, and a position where the tool top end enters the linear section is given for teaching. <P>SOLUTION: A gap between teaching positions P1 and P2 and a gap between teaching positions P3 and P4 among four teaching positions P1 to P4 are subject to linear interpolation. When the teaching position P2 is given as a position where a tool top end enters the circular-arc shaped section of a work object section from the linear section for correct teaching, and the teaching position P3 is given as a position where it enters the linear section from the circular-arc shaped section for teaching, a gap between the teaching positions P2 and P3 is subject to curve interpolation with an ellipse. In this case, since the long diameter section of the ellipse is brought into contact with the teaching position P2, an orbit is made close to a circle, and since the short diameter section of the ellipse is brought into contact with the teaching position P3, the orbit is made close to a line. As a result, the shape of the orbit is made close to the shape of the work object section. <P>COPYRIGHT: (C)2013,JPO&INPIT |
