METHOD FOR GENERATING A WELDING PASSAGE OF A 6-AXIS ARTICULATED ROBOT BY FORMING MOTION TRAJECTORY OF SIMPLE WEAVING OR TRIANGULAR WEAVING WITH A BEZIER SPLINE

摘要

PURPOSE: A welding passage generating method of a 6-axis articulated robot is provided to move the articulated robot flexibly and promptly by reducing the calculation for generating the trajectory. CONSTITUTION: Starting point, end point, reference point, weaving number, amplitude and weaving degree are input. The unit vector, points from the number of weaving to generate motion trajectory of simple weaving. Middle points of weaving, point of intersection and points corresponding to weaving degree and amplitude are calculated. Data on the adjusting point is output, and four adjusting points are bundled corresponding to each range according to output data. Curve is formed by using the adjusting points according to each range, and the curves are connected.