ROBOT COORDINATE CORRECTOR

摘要

PURPOSE:To omit a troublesome teaching operation for positioning points by feeding directly the data on the coordinates of positioning points and a working coordinate system to perform corrections of coordinates in case the coordinates of positioning points are known for the working coordinate system. CONSTITUTION:An orthogonal coordinate system owned first by a robot is defined as x-y together with an original point 0' of a working coordinate system x'-y' and an optional point PX' set on an axis (x). Then a numerical controller calculates the relative positional relations X', Y' and delta' of two coordinate systems by giving a teaching operation to points 0' and PX' respectively. These positional relations are stored in a register R'14. In the same way, the relative positional relations X'', Y'' and delta'' are calculated with a working coordinate system x''-y'' and stored in a register R''14. The positioning data is supplied by a data input device 11, and the input coordinates are supplied directly in the form of G=1 and G=2 with systems x'-y' and x''-y'' respectively. An operator performs operations of Pi Pi'+DELTA and Pj Pj''+DELTA'' and stores Pi and Pj in a memory 15. In an active mode the robot is actuated by giving action commands to a driver based on the data of the memory 15.