| 摘要 |
PURPOSE:To simplify a control program by constituting a unit vector column storage part and a magnitude column input part 4 independently. CONSTITUTION:The robot controller consists of the unit vector column storage part 2 and magnitude column input part 4, a composition part 6, and a control signal generation part 8. This storage part 2 is stored with unit vectors corresponding to an operation vector column obtained by decomposing the motion track of a robot 12. The input part 4, on the other hand, inputs the magnitude column of the operation element vector column corresponding to the unit vector column as external data. Further, the composition part 6 composes one column of both vector columns and outputs control signals for driving respective driving shafts to a driving device 10. Consequently, the unit vector column is only stored by basic operation modules and then the robot is put in operation having specific relation with the basic operation track only by supplying a magnitude column. |
