| 摘要 |
PROBLEM TO BE SOLVED: To evade a case where the different types of jobs such as the generation of a path and a velocity are processed on the same coordinates by setting at least one of four coordinate systems independently of other systems. SOLUTION: This mechanism controller 1 includes a conversion part 2 which converts the coordinates used in a user coordinate system into the world coordinates, an auxiliary point generation part 3, a path generation part 4, a velocity generation part 5 and an interference check part 6. A selection part 7 is added to those parts 2 to 6 respectively to select and allocate the coordinates. An instruction is given to every part 7 from a user program 12 to select a conversion expression that converts the world coordinates into a coordinate system at each of parts 2 to 6 and a conversion expression that converts the coordinate systems of the parts 2 to 6 into the world coordinates from a group 13 of conversion expressions. Thus, the parts 2 to 6 and an inverse mechanism conversion part 16 can select each individual coordinate system.
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