| 摘要 |
PURPOSE:To perform work with high accuracy by finding the robot coordinate value of a designation point P setting a point nearest to the point P designated on a working area out of points defined in advance as an origin. CONSTITUTION:Assuming definition points located at a position nearest to the work coordinate value (Xo,Yo) of the designation point P as P6, P7, and P2, the nearest definition point out of the definition points is the point P6. Therefore, coordinate transform processing can be performed with the the least number of errors by finding the position of the designation point P setting the point P6 as the origin even when the distortion of coordinate exists in a triangular area. In other words, the robot coordinate value of the designation point P can be given as the vector sum of a vector P setting the point P6 as the origin and a vector PP6 connecting the original position of the robot coordinate to the point P6. Thereby, it is possible to perform the coordinate transform processing with the least number of errors, and to inexpensively obtain a robot operated with high accuracy. |
