| 摘要 |
PURPOSE:To enable a robot to draw a chart with a prescribed order of strokes by decomposing the line drawing information given in a dot matrix type into plural segments and storing the end points and flection points of those segments in a teaching memory in the form of the action point data. CONSTITUTION:The character codes given to a robot controller 2 from a word processor 4 are stored in a temporary memory 10 via a character information memory 9 in the form of the line drawing information of a dot matrix type. A CPU5 scans successively the dot matrix information to detect the writing start point and tracing the adjacent dots to decompose the information into segments. Then the CPU5 stores the end points and flection points of those segments in a teaching memory 6 in the form of the action point data. When a robot 1 is actuated, the action point data is given to a comparator 8 as the reference value of a feedback controller consisting of a servo amplifier 11, a servo motor 14, an encoder 17 and a feedback data processor. |
