| 摘要 |
PURPOSE:To perform a smooth initial shift of a robot from its initial position to the working start position by providing a total distance calculating means, a division number deciding means, a function value calculating means, a section distance calculating means and an operating amount output means. CONSTITUTION:A total distance calculating means 2 calculates a distance L between a working end position Q and a working start position P from the coordinates of these positions Q and P. If the distance L is set at 100, a division number deciding means 3 decides that the distance L belongs to the 1st distance level A1 since the L is <1,000. In this case, the division number (m) is obtained from L/10 to satisfy m=10. A function value calculating means 4 obtains only the number (m) from a function F(i)={(m-1)!/(m-i)!}X{i/(m<i>)}. A section calculating means 5 obtains a section distance Sk as Sk=L.F(k)/SIGMAF(i). Then the means 5 deletes the section distance where the calculation value is set at 0 and then adds section distances successively to decide validity for the section distance up to the one closest to the distance L. An operating amount output means 6 converts the section distances S1-S10 into the operation amounts of a robot 10 and delivers them for every shift unit time. |
