| 摘要 |
PCT No. PCT/JP85/00585 Sec. 371 Date Jun. 16, 1986 Sec. 102(e) Date Jun. 16, 1986 PCT Filed Oct. 18, 1985 PCT Pub. No. WO86/02469 PCT Pub. Date Apr. 24, 1986.The present invention relates to a method of generating data indicative of robot control axis position. The method has a step of inputting data specifying the shape of a workpiece (WK) and data ( alpha , beta , gamma ) specifying the attitude of a tool (TL) conforming to a task to be executed by a robot, a step of calculating a position (X, Y, Z) of a tip (P) of the tool in the workpiece coordinate system X-Y-Z by using the data specifying the workpiece shape, a step of specifying the position of each axis constituting the robot by using the tool tip position and the tool attitude data, and a step of successively specifying positions of each control axis of the robot along a tool path (PT).
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