| 摘要 |
PURPOSE:To operate a robot quickly with a high precision by solving equations of curves to calculate and store preliminarily the route between designated points and controlling the movement of the robot on a basis of the stored route. CONSTITUTION:Data taught by the teaching work is stored in a position data area of a RAM 13 through an interface 12 in a controller 11. In the controller 1, a function operating circuit 15 operates point data of plural points on the route connecting two positions on a basis of data stored in said position data area and parameters and stores this point data in a function data area of the RAM 13 and operates distances between plural points on a basis of stored data and stores them in a CP data area of the RAM 13. A pulse sending circuit 16 generates moving pulses whose number is designated by a CPU 10, and they are subjected to D/A conversion and are amplified by a servo amplifier 17 and are applied to a servo motor of a robot body 4.
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