CONTROL SYSTEM OF MULTI-JOINT ROBOT

摘要

PURPOSE:To perform suitably the adverse conversion of a multi-joint robot by dividing equally the difference between angle data on a wrist part to each interpolation point for calculation of the angle data and calculating the position coordinates at the tip point of the wrist part obtained from a UVW coordinate system based on said angle data. CONSTITUTION:A control system 10 consists of a multi-joint robot 11, a control part 8 for robot 11 and an operating board 9. The robor 11 contains an arm part 12 consisting of the 1st-3rd arms and a wrist part 13 including the 1st wrist member 4, etc. Then the robot 11 is turned with control according to angle data theta1-theta5. Here the static X-Z coordinate systems and U-W coordinate systems of the tip original point Q of the 3rd aram 3 are set previously to the part 8. The teaching point data is read out in a robot control mode, and the angle data is converted into the positions of the X-Z coordinate systems to obtain the position coordinate of a tip point P. The position coordinate is calculated for an interpolation point between coordinates. Thus the angle data on the part 13 is obtained between interpolation points. Then the angle data on the part 12 is calculated in the form of the positions of U-W coordinate systems.