COORDINATE CONVERSION SYSTEM FOR INDUSTRIAL ROBOT

摘要

PURPOSE:To obtain a proper control system in the relation with an actual work by using a normalized coordinate conversion matrix normalizing a refer ence coordinate conversion matrix so as to apply coordinate conversion. CONSTITUTION:After the operation of a conventional reference coordinate conversion matrix utilized for coordinate conversion by a block 1000 at first, the 2nd process correcting the result so as to cancel the change in the length attended with coordinate conversion is performed at the block 2000 and the effect of 3-dimensional distortion of a work being an object of job is excluded. After said reference coordinate conversion matrix is used to apply coordinate conversion for a position data (block 3000), the attitude data with respect to the controlled system is applied with coordinate conversion by using the normal ized coordinate conversion matrix.