MOVEMENT CONTROL METHOD OF INDUSTRIAL ROBOT

摘要

PURPOSE:To obtain a smooth free curve with no use of an external computer by obtaining an equation of a curve connecting the spot position data groups on a given 3-dimensional space and giving a control command of each axis for each fixed time interval. CONSTITUTION:A cubic spline function is used to obtain an equation of a curve connecting smoothly the spot point position data groups on a 3-dimensional space of a work 2 tought by a teaching head. The spline function is obtained from the position coordinates and a 2nd order differential coefficient at a teaching point. Thus the command value is obtained every fixed time and in response to a command speed that is previously taught from the given position coordinates and 2nd order differential coefficient. This command value is given to a torch 4 to attain a free curve movement and an equi-speed movement with an industrial robot.