| 摘要 |
<p>A method of controlling tool attitude of a robot to intentionally control at all times the tool attitude between a start point and a finish point of work. Angles ( theta 1s), ( theta 1e) subtended by the tool and a reference plane (1), angles ( theta 2s), ( theta 2e) subtended by the tool projected on the reference plane (1) and a reference line (3) set on the reference plane (1), and rotational positions ( theta 3s), ( theta 3e) about the tool axis of the tool, are calculated in compliance with the tool positions and tool attitudes at a start point (P1) and a finish point (P2) that have been taught to the robot in advance. Positions, angles and rotational positions of the tool are then interpolated between the start point (P1) and the finish point (P2) in order to control the position and attitude of the tool depending upon the results of interpolation.</p> |
