| 摘要 |
PURPOSE: To easily move a robot to five target points by a movement from a small one to a large one by carrying out operation in a cylindrical coordinate system setting a first axis of the robot in an origin during manual operation of a teaching playback type robot in teaching. CONSTITUTION: In the case of application to a six-axis vertical articulated robot, movement of the coordinates of a robot hand is operated in a r-θ-Z cylindrical coordinate system as to a cylindrical coordinate operation. In other words, operation is carried out while a first axis of the robot is set in an origin of the cylindrical coordinate system so as to be used as a Z-axis of the cylindrical coordinate system, an angle around the Z-axis is assumed asθ, and a distance from the Z-axis is assumed as (r). In this way, an action of the robot from a short movement to a long movement can be performed, and the whole of operation area of the robot can be covered provided it is the movement in the r-θ-Z cylindrical coordinate system. That is, operation in the whole of operation area of the robot is carried out under an easily operating condition, and a movement to a target point is easily carried out no matter how small or large the movement is.
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