CONTINUOUS ROUTE CONTROL METHOD FOR ROBOT

摘要

PURPOSE:To attain the selection of robot actions with much account made of the smoothness or reproducibility of the route in response to the robot working, by selecting the route data processing mode in a play-back state. CONSTITUTION:A robot operator delivers the flag data 22 showing a processing mode A, B or C to a data storage means 20 via a route data processing mode input means 21 before a play-back action. In a play-back action mode a position command arithmetic means 23 supplies successively the route data on the tip part of a robot arm. Then the input route data is turned into a motor revolving angle through the coordinate conversion and a position command 24 is delivered in a route data processing mode A. In a route data processing mode B the command 24 is delivered after the input route data is interpolated for a fixed period of time by an interpolation method. While the input route data is approximated by a fixed approximation method and the command 24 is delivered in a route data processing mode C. A speed command arithmetic means 25 delivers a speed command 27 which drives a robot arm 16 based on the command 24.