| 摘要 |
<p>PURPOSE:To carry out the robot work without stopping the flow of a working object by processing the circular arc tracking in an instruction program regenerating time to rotate a coordinate system based on the instruction time in order corresponding to the angular displacement in the instruction time. CONSTITUTION:A work W is loaded at a standard position on a conveyer 1 in the still condition of the disk form conveyer 1, and two positions of the work W are instructed based on a still coordinate system SIGMA0. And the output of a pulse coder 2 to detect the rotating position of the disk form conveyer 1 is taken in a CPU 11, and when the work W reaches to the standard position, the counting is started, and after the output is converted to the rotating displacement theta of the conveyer 1 from the standard point, the set data of a coordinate system SIGMArot is renewed. On the other hand, when the work W reaches to the standard point, an interpolation calculation to decide the moving object point of the robot in order depending on the present position data and the instruction position data of a waiting position is carried out, and the movement of the robot making the obtained position as the object point is carried out in order based on the rotating coordinate system SIGMArot.</p> |
