| 摘要 |
PURPOSE:To attain high speed control of a robot arm or the like by detecting the complexity of a teaching path curve depending on the value of angle between tangents at two points and comparing it with a predetermined threshold value so as to form a consitituting point of a new path. CONSTITUTION:A temporary data storage section 301 stores tentatively a coordinate signal from an inner field measuring section 102 and a coordinate signal distribution section 302 transmits alternatively said coordinate signal to differentiation circuit of a unit tangent vector calculating section 390 by using an identification signal 351 from a control section 308. An evaluation start point unit tangent vector signal to an evaluation start point Qn and a unit tangent vector signal to an evaluation point Qn+p are obtained by the calculation section 390. An angle signal DELTAtheta calculated by an angle calculatin section 391 from both said signals is compared with a threshold value signal at a comparator 312 of a threshold value discriminating section 393. When the angle signal DELTAtheta exceeds said threshold value signal, a discrimination signal 354 is fed to the control section 308 and the evaluation point coordinate value signal is stored in a data storage section 103 at the same time. |
