Industrial robot control method and apparatus

摘要

A method and apparatus for controlling an industrial robot. Values of (theta)i for positions/postures of robot axes are determined, when a work mounted to the end of a robot hand is located adjacent to the end of a fixed tool, the tool being separated from the robot. Positions/postures X(OVS)i are determined in a reverse representation of the robot base for a coordinate system of the end of the hand, for the values of (theta)i, by a forward transformation operation by which positions/postures of the end of the hand with respect to the base are determined using the values (theta)i. Positions/postures Ti in a matrix representation of the end of the tool in the coordinate system of the end of the hand are also determined, for the positions/postures of the axes, based on X(OVS)i and predetermined positions/postures P of the end of the tool using the coordinate system of the base. Intermediate positions/postures Tj each between two Ti positions/postures are determined, using an interpolation function. Positions/postures X(OVS)j are determined in a reverse matrix representation of the base using the coordinate system of the end of the hand based on P and Tj. Positional values (theta)j corresponding to positions/postures of the axes and to Xj are determined, using a reverse transformation operation. The robot is then driven using (theta)j.