INTERPOLATION CONTROL METHOD AND ITS CIRCUIT FOR INDUSTRIAL ROBOT

摘要

PURPOSE:To attain the simultaneous following property of all axes by setting up a waiting point prior to an objective value changing point of each axis, and after waiting that all the axes has exceeded the waiting point, changing the succeeding virtual objective value. CONSTITUTION:An interpolation control circuit for an industrial robot is formed so as to correspond to all axes and constituted of a CPU12 for controlling all axes to execute crude interpolation operation assigning the string of crude interpolation points on a space course of a robot wrist to the string of virtual objective values of respective axes and CPUs 13-15 for controlling respective axes to execute the fine interpolation operation of the string of fine interpolation points among the vertual objective values of respective axes provided for every axis of A-C to control the wrist by the CPUs. In this case, the waiting control circuit 16 is connected between both the CPUs 12 and 13-15 and an objective value changing signal is outputted so that the objective values of respective axes are changed to the succeeding objective values after waiting that the actual values of all the axes have exceeded the waiting points set up before the change of the objective values of respective axes.