| 摘要 |
PURPOSE:To move circularly a material to be controlled smoothly near a designated point of the three-dimensional space, by moving this material on an inscribed circle determined by a designate route position and an error quantity of passage near this position within the maximum angular velocity. CONSTITUTION:When a start signal is inputted to an address counter 1, the first parameter stored in each address of a memory 2 is transferred to a coordinate converting circuit 3. The second parameter required for linear and circular motions is obtained in the circuit 3 by the operation based on the first parameter. The second parameter is inputted to linear and circular motion track output circuits 4 and 5, and circuits 4 and 5 determine a linear movement length, a three- dimensional space movement position, a movement displacement angle, and a three-dimentional space movement angle on a basis of the parameter and send these data to a robot servo driving circuit 6. The switching between the linear motion and the circular motion is determined by a state deciding circuit 7. In case of the circular motion, an error of nearby passage or a circular motion velocity is so corrected by the circuit 3 that the robot is moved on an inscribed circle within a set maximum angular velocity. |
