| 摘要 |
PURPOSE:To drive respective axes of a robot smoothly and to improve tact time by automatically correcting a teaching point near a teaching point specified as no positioning. CONSTITUTION:A rectilinear distance LDST between a reference point and an objective point is found out at first, and then an accumulated interpolation distance SVL from a teaching point is reset to calculate an interpolation distance VELN for the current stage. The found interpolation distance VELN is added to an accumulated interpolation distance SVL to obtain a new accumulated moving distance SVL. If the accumulated moving distance SVL is larger than a distance between teaching points, the interpolation processing is completed in case of no positioning. If smaller, respective elements of the interpolation position are calculated to move the robot to the interpolation position point. Then, the succeeding interpolation distance is found out. Thus, a route can be omitted near the teaching point specified as no positioning, so that the tact time can be shortened and the robot can be smoothly driven.
|
