System for controlling a robot in association with a rotary table

摘要

A system is provided for controling a robot operating in association with a rotary table, including a robot, a rotary table, and a control circuit. The control circuit carries out a step of composing and storing teaching data as values on a rotary table orthogonal coordinate system (UVW axes), the rotational shaft of the rotary table being the vertical (W) axis, a step of calculating the UVW coordinates of a plurality of interpolation points by carrying out path interpolation along a line and/or curve defined by the stored teaching data, a step of calculating the degree of rotation of the rotary table which is required to bring each of the interpolation points into the U-W plane, a step of computing the UVW coordinates of the positions that the interpolation points occupy as they pass through the U-W plane, a step of transforming the data obtained by the computing step from coordinates in the UVW coordinate system to coordinates in a robot assigned coordinate system (XYZ axes) or orientation positions of the joint axes of the robot, and operating the robot in accordance with the information thus derived.