| 摘要 |
<p>PURPOSE:To shorten the work teaching time and to improve the precision by keeping relative position attitudes of a robot and a work constant even when a moving device to which the work is fixed is operated. CONSTITUTION:A position operating means 24 uses robot position components obtained from a separating means 23 and the robot moving speed obtained from a moving speed operating means 21 to calculate a position component command value of the robot. An attitude operating means 25 uses robot attitude components obtained from the separating means 23 and the robot rotating speed obtained from a rotating speed operating means 22 to calculate an attitude component command value of the robot. A synthesizing means 26 synthesizes the robot position component command value and the robot attitude component command value, which are calculated in operating means 24 and 25, to a robot matrix command value as a robot position attitude command value. In the following-up operation mode, a robot matrix switching means 415 switches the robot matrix command value calculated in the synthesizing means 26 to a robot matrix command value, which is calculated in a following-up operation means 414, and outputs the latter robot matrix command value. Each joint angle command value of the robot is calculated on a basis of the robot matrix command value obtained from the matrix switching means 415 by a robot controller 5 to drive the robot 8 through a robot servo device 52.</p> |
