| 摘要 |
PURPOSE:To reduce the interpolation processing time by revolving adversely the 2nd rotary axis by an amount equivalent to an angle at which the 1st rotary shaft should be revolved at a broken point in an interpolation mode of a desired route. CONSTITUTION:A processor 1 has interface with a memory 3, a table 4, etc. via a bus 2, and input/output ports 6 and 7 form an input/output part between a robot 9 and the bus 2. Then the robot 9 is driven up to a prescribed position with an indication given from a teaching box 8. The value of a displacement detector of an actuator is read and the corresponding position is stored to the memory 3. In an operation mode the data is read out of the memory 3 to perform the interpolation processing between data points. In this case, the revolving speed of the 1st rotary axis of a robot hand is reduced monotonously. At the same time, the 2nd rotary axis is revolved adversely by an amount equivalent to an angle at which the 1st rotary axis should be revolved at a broken point. In this case, the revolving speed of the 2nd rotary axis is increased monotonously to obtain an interpolation route. |
