| 摘要 |
PROBLEM TO BE SOLVED: To surely pass through a teaching point and also to relax impact by suppressing torque variation at the teaching point. SOLUTION: The speed of teaching data is computed in the vicinity of a reversal point where the operation direction of a tilt axis is reversed. When the computed speed is not less than a predetermined value, a virtual teaching point is set at the position outside the reversal point and spaced apart from the reversal point by a predetermined distance. Arc orbit data come into contact with two linear lines drawn from each teaching point in the vicinity of the reversal point respectively with respect to the set virtual teaching point and pass through the reversal point, and are used as new teaching data to correct and compute original teaching data. COPYRIGHT: (C)2004,JPO&NCIPI
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