| 摘要 |
PROBLEM TO BE SOLVED: To realize an efficient robot trajectory controlling method and system in case of creating data by re-teaching. SOLUTION: A trajectory controlling data creating means 1D comprises a process of calculating the position and attitude of a terminal tool 101 of a robot 100 by referring to the local coordinate system constituted based on the fixed point outside the robot 100, and a process for transforming the local coordinate position and attitude of the terminal tool 101 based on the relation between the local coordinate system and a robot base coordinate system established on the robot 100, into the robot base coordinate position and attitude of the terminal tool 101 by referring to a robot base coordinate system. COPYRIGHT: (C)2006,JPO&NCIPI
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