| 摘要 |
PURPOSE:To attain the robot control with high accuracy by supplying the coordinates equivalent to the working locus of a robot in off-line to a personal computer and using the robot teaching value to simulate the robot working. CONSTITUTION:A personal computer 1 is used to an off-line teaching system of a robot. The computer 1 includes a CPU which performs the arithmetic processing according to a program stored in a ROM, a graphic coordinate input means 2 consisting of a digitizer, etc., a floppy disk 4 which stores the data on the target value corrected by the off-line teaching system, etc. When the off-line method is carried out to the robot, the robot working locus is supplied to the computer 1 via the means 2 like a digitizer, etc. for input of the corresponding coordinates via a drawing. Then the dynamic characteristics and disturbance are approximately calculated by the teaching value and according to the robot posture. Then the robot working is simulated with a robot control system. Thus the present position of the robot is obtained and therefore the target value is obtained so as to reduce the deviation.
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