| 摘要 |
PROBLEM TO BE SOLVED: To streaming-reproduce motion data while compensating the operation of a robot, when the stability and data of the operation of the robot breaks. SOLUTION: In a data providing device of the present invention, motion data of a robot has a command value comprising an angular position and an angular speed for every control point in each object to be controlled, so as to perform a high-order spline interpolation by only two control points. Thus, margin of error between a designed motion pattern and an interpolation result becomes minimum, and particularly the motion data is thereby streaming-reproduced while compensating the operation of the robot, when stability and data of the operation of the robot breaks. Moreover, for time-sequentially transferring, the command value is transferred not in joint order but in timely earlier order from the control point as needed. COPYRIGHT: (C)2005,JPO&NCIPI
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