| 摘要 |
PURPOSE:To reduce the quantity of data, to make the operation high-speed and to shorten the work time of execution by compressing data more for simple parts of the course of an arm of a robot and compressing data less for complicated parts. CONSTITUTION:At a teaching time, coordinate value signals which are obtained when a teacher moves the arm of the robot are held successively, and data of these coordinate value signals are compressed and are stored as driving coordinate value signals. At an execution time, the arm of the robot is moved in accordance with driving coordinate value signals read out successively from a data storage part to reproduce a prescribed work. In this data compression, a compression rate is increased when the arm of the robot is moved on a course 601 of a straight line or a slow curve, and it is reduced when the arm is moved on a course 602 of a sharp curve; and thereby, a required storage capacity of the data storage part is reduced while keeping the reproducing precision, and the operation is made high-speed for execution. |
