| 摘要 |
PURPOSE:To attain continuous reverse conversion including a specific point by adding a prescribed condition to reverse conversion to be executed to obtain joint position data from objective data. CONSTITUTION:The values of respective axes having 6 degrees of freedom which are previously taught are stored in a storage device 41, read out when it is necessary and converted into the position and posture of a robot which are expressed by a rectangular space by a conversion software 51. 1A locus software 50 calculates the position and posture of the robot in the rectangular space as a homogeneous matrix T based on the converted data. A reverse conversion software 52 calculates a robot joint position theta corresponding to the matrix T based on the current robot joint position data and outputs the calculated result to a servo system 43. When a formula for calculating the joint position theta is converted into a formula for obtaining an answer most close to the current joint position, the robot can be smoothly controlled even on the specific point.
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