| 摘要 |
<p>The tracking of a robot along a working path is controlled by (S1) inputting data information including transfer direction and transfer velocity of a workpiece 50 transferred by a transferring apparatus 20, (S2) calculating a linear distance between a set initial stationary position along a transfer path of the transferring apparatus and a position of a working tool 15 of the robot 10, (S3) calculating the time necessary for the working tool 15 to move the linear distance at a predetermined velocity, (S4) calculating the distance that the workpiece 50 is transferred for the necessary time calculated in the step S3, (S5) electing a first position on the transfer path corresponding to the transfer distance calculated from the initial stationary position and a second position disposed in front of the first position by a predetermined distance along the transfer path, and converting the first and second positions into data of coordinates according to the working tool movements, (S6) moving the working tool 15 to the first position according to the converted data of coordinates when the transferred workpiece 50 arrives at the initial stationary position, and (S7) driving the working tool 50 to perform a desired operation to the workpiece 15 while moving the working tool 15 from the first position toward the second position.</p> |
