METHOD OF CONVERSION OF ROBOT TEACHING PROGRAM

摘要

An original teaching program, written for the motion along a path having a linear section and a circular-arc section to smoothly link with each other through a teaching point P2, is optimized through conversion from the viewpoint of a need to avoid both the generation of vibrations and the increase of a cycle time. A teaching speed in the circular-arc section is changed to a largest allowable value v2' through correction on the condition that the relation among a plurality of circular-arc sections in terms of their connections to one another is taken into consideration. An additional teaching point Pad is set on the basis of a distance j2 required for determining a transition range required for bringing the decelerating motion in the linear section from the teaching speed v1 to v2' to completion at a point P2, and an motion command 3 (a teaching speed v2) for the linear motion is created. Subsequently, the acceleration in a decelerating motion is processed to become equal to the allowable acceleration a.