| 摘要 |
<p>A robot has a tool (TL) which works on the surface of a workpiece (WK), following a certain path (PT). The position and posture of the tool are completely determined by the position of the tool end (p), X, Y, Z in a work coordinate system. and the angles of the tool, in reference to the surface normal of of the workpiece. The position (X,Y,Z) is determined by the given surface shape while the angle is determined by the required operation, i.e., painting, arc-fusinq or spot-fusing. The data for controlling the robot position can be obtained by transforming these data into these in robot coordinate system.</p> |
