| 摘要 |
PROBLEM TO BE SOLVED: To provide a robot system not demanding cycle time precision of a high command cycle T<SB>1</SB>without timer correction (allowance of a wow) and capable of reducing the influence of a ripple of a positional command produced by this wow and an interpolation method. SOLUTION: This robot system has a robot 2, servo controllers 21, etc. and a robot control device 1, the servo controllers 21, etc. are furnished with prescribed interpolators 211, and the interpolator 211 preserves, in receiving the next operation command at the prescribed time A during an elapse of a cycle T<SB>1</SB>after receiving the operation command and when a command value of an operation command immediately before a prescribed time A and a command value of a short cycle working command at the prescribed time A are different from each other, the deviation thereof and corrects in an adding and subtracting manner the command value of the short cycle operation command based on the deviation. COPYRIGHT: (C)2008,JPO&INPIT
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