| 摘要 |
PROBLEM TO BE SOLVED: To provide a method of generating the control data for manipulator capable of avoiding a sudden attitude change of a coating gun when specifying the trajectory of the coating gun on the basis of the shape data. SOLUTION: Plural operation points on a surface of a three-dimensional article are extracted on the basis of the shape data expressing the surface of the three-dimensional article. When the surface of the three-dimensional article is drawn again on the basis of the extracted operation points, pseudo surfaces 55a and 55b smoother than the surface of the three-dimensional article expressed by the shape data can be dawn. Fine grooves, irregularity, a stage difference, and openings can be eliminated from the pseudo surfaces 55a and 55b. Operation of a manipulator is decided on the basis of the pseudo surfaces. As a result, a sudden attitude change of a working tool installed in the manipulator due to the fine grooves, the irregularity, the stage difference and the openings can be securely avoided.
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