| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To carry out working by using proper attitude data. <P>SOLUTION: When preparing a working program PRO using spatial circular- arc interpolation by teaching, a torch 23 is moved from a start point P1 of a circular-arch through an intermediate point P2 to an end point P3 by jog feeding, and the control coordinate value of each point is stored in the working program PRO. The working of a work W is carried out based on the working program PRO, and when a prescribed code T** exists in the program, attitude data Ap2' and Bp2' at the intermediate point P2 are calculated based on the shape information of the work W, and used instead of attitude data Ap2 and Bp2 calculated by teaching. <P>COPYRIGHT: (C)2004,JPO</p> |
