| 摘要 |
PCT No. PCT/JP89/00262 Sec. 371 Date Oct. 25, 1989 Sec. 102(e) Date Oct. 25, 1989 PCT Filed Mar. 9, 1989 PCT Pub. No. WO89/08878 PCT Pub. Date Sep. 21, 1989.A tool posture control method for a robot is provided, which is capable of always controlling the posture of a tool as intended, between a starting point and an ending point of operation, in moving the tool from the starting point toward the ending point along a straight line or a circular arc. Based on positions and postures of the tool at a starting point and an ending point, previously given to the robot for instruction, and a tool position at an intermediate point, additionally given as required for instruction, a control device calculates (S2) a first angle formed between the tool and a datum plane, at the starting point, a second angle formed between the tool projected on the datum plane and a datum line set on the datum plane, at the startingt point, and the rotational position of the tool at the starting point around a tool axis, and then calculates (S3) the first angle, the second angle, and the rotational position around the tool axis, at the ending point. Thereafter, the control device interpolates (S4) the tool position, the first angle, the second angle, and the rotational position around the tool axis, between the starting and ending points, and distributes (S6) pulses to servo circuits for driving servomotors, in accordance with the result of the interpolation, thereby controlling the position and posture of the tool between the starting and ending points.
|
