| 摘要 |
PCT No. PCT/JP81/00273 Sec. 371 Date May 28, 1982 Sec. 102(e) Date May 28, 1982 PCT Filed Oct. 8, 1981 PCT Pub. No. WO82/01426 PCT Pub. Date Apr. 29, 1982.A numerical control system suited for application to a machine tool having an axis of rotation, such as a robot which employs a cylindrical coordinate system. For example, when the arm (3) of an industrial robot is rotated to transport a wrist (2), which is attached to the end of the arm (3), from a starting point (P1) to an end point (P2), the straight line (Ln) interconnecting the starting point (P1) and the end point (P2) is divided into a plurality of intervals {Qi, Q(i+1), . . . }, positional data for each axis at each of the division points is generated, and linear interpolation for each of the intervals is performed by using the positional data for each axis to move the wrist (2) approximately along the straight line. |
