| 摘要 |
<p>PURPOSE:To enable high speed processing by making a robot and an additional axis operate coordinatively, and in addition, using the same matrix as a transformation matrix at the time when the whole robot is not moved. CONSTITUTION:This system is constituted of an articulated robot 11, the robot control device 12 of computer constitution, a teaching operating panel 13, an axis control part 14 and a traveling means 15. Here, the coordinative operation of the robot and the additional axis can be performed, and in addition, the same matrix as the transformation matrix in the case of no additional axis can be used. Thus, the time required for transformation processing can be shortened, and high speed traveling comes possible as well.</p> |
