| 摘要 |
PURPOSE:To provide a titled device by which a specified weaving locus is obtd. without the influence of turning axes by the constitution wherein the calculated values of weaving elements are added to the calculated values of the coordinates at the respective axes of a robot and are counted back to the coordinate data of each axis and the weaving is controlled in accordance with the data. CONSTITUTION:The data of a calculation unit 5 is transmitted with a control resistor 7 to a weaving calculation unit 8 in a control device for a robot provided with a CPU 1 for performing overall control, a memory 2 for storing data, a current value register 3 for storing the data from the memory 2, a target value register 4 and the calculation unit 5 for determining the distance between the right angle coordinates of a target position and the calculated present value and further counting back the same to the data of each corresponding axis from interpolation data. The coefft. of a weaving amplitude is calculated here, and the coefft. selected by a weaving control circuit 9 is fed via a coefft. register 10 to a synthesis circuit 17 where the signal for the amplitude applied from a weaving oscillator 18 or the like is applied to said coefft. to obtain interpolation data. Said data is outputted via a control register 7 to the unit 5. |
