| 摘要 |
<p>A method of correcting loci of an industrial robot which can be executed using simple sensor systems and which reduces the burden for processing data of the robot. When the robot is allowed to reproduce its operation after a desired moving locus is taught to the robot using a fixed coordinate system, the robot controller calculates (S5) a position (Pi) of an interpolated point on the fixed coordinate system based on the data that are taught. Then, an error between the present moving position and the desired moving loci is found (S6) on a predetermined coordinate system defined by the present moving position and the present moving direction, and the error is converted (S7) into a correction quantity (xr', yr', zr') on the fixed coordinate system. An instruction value of a corrected position Pi' of each of the interpolated points is produced as Pi'(Xi + Σxr', Yi + Σyr', Zi + Σzr') (S8).</p> |
