| 摘要 |
<p>In an apparatus for controlling an industrial robot system comprising a workpiece handling apparatus (12) having first revolute joints (RJ11-16) for moving a workpiece (1), and a tool moving apparatus (11) having second revolute joints (RJ1-6) for moving a tool (2) so as to move the workpiece and the tool on a predetermined trajectory between two adjacent teaching points, there are calculated a position and an attitude of a predetermined coordinate system of a predetermined workpiece attachment reference point based on a coordinate system of a baseplane (11B) of said workpiece handling apparatus, and a position and an attitude of a predetermined coordinate system of a predetermined tool attachment reference point based on a coordinate system of a baseplane (12B) of said tool handling apparatus, from inputted teaching data. Further, there are calculated joint variables of the first and second revolute joints for moving the workpiece and the tool on the trajectory, from the calculated data. Finally, the first and second revolute joints are simultaneously driven in accordance with the calculated joint variables thereof. <IMAGE></p> |
