VERFAHREN ZUR ROBOTERSTEUERUNG

摘要

A robot control method capable of eliminating any influence of motion in a preceding path section to assure an accurate path movement with respect to a portion of a path section toward an end point. In a motion statement, a path-assurance section is previously designated in terms of length, time or path-assurance ratio for a moving path Ä2Ü->Ä3Ü. A path motion plan EFGH for the moving path Ä2Ü->Ä3Ü is created so that a path section represented by DHGK is the path-assurance section designated in the motion statement, assuming that D represents a terminal point of the motion along the moving path Ä1Ü->Ä2Ü. Consequently, an influence of motion of the moving path Ä1Ü->Ä2Ü is not exerted on the motion after a point in time represented by D or K, to assure a movement on the path Ä2Ü->Ä3Ü in the path-assurance section.