| 摘要 |
PURPOSE:To control the position of the robot in circular motion and the attitude of the arm tip speedily by receiving three parameters, i.e. the center position and radius of a circle and an angle of mincing from a host device. CONSTITUTION:The respective parameters, i.e. the center position coordinates (X0, Y0) and radius (r) of the object circle of operation and the angle DELTAtheta on the circumference which are sent from the host device are stored in buffer 6 temporarily. A control part 8 reads the respective parameters out of the buffer 6 and also reads an arithmetic expression regarding the circle out of an arithmetic expression memory 7 to calculate and output position information on each point on the circumference to a circle information generation part 9 and also output calculation data on the attitude of the arm tip 2a at each point on the circumference to an arm tip position information generation part 10. The circle information generation part 9 and arm tip position information generation part 10 converts and generates the inputted data into data to be passed to a robot position/attitude control part 3 and stores the output in a memory 5. |
