| 摘要 |
PURPOSE: To provide a method for controlling an industrial robot which can correct the locus deflection due to the gravity by reducing the calculation quantity and the number of instruction points by carrying out correction so that the response locus coincides with the instructed locus, at the points in a prescribed number or more on the response locus between the instructed points, excluding the instructed points, in the interpolation operation between the instructed points in the playing operation. CONSTITUTION: The ordinary teaching in which deflection correction is not carried out is carried out by an input means 1, and two instruction points are stored in an instruction position memory part (memory part) 2. In the playing operation mode, two instruction positions are read into an interpolation distance judgment part 3 from the memory part 2 and the between-both point linear distance is judged, and if the value is larger than the designated distance, a deflection compensation quantity calculation part 4 is operated. The deflection compensation calculation part 4 obtains the deflection compensation quantityΔX1 in the prescribed processes, and outputs the result into a joint angle calculation part 6. The target operation valueθ1 is obtained in the joint angle calculation part 6, and each shaft servo system 7 is controlled.
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