| 摘要 |
PURPOSE:To remove accidents due to program errors of a robot by controlling plural coordinate values and data annexed to positions necessary for the conversion of coordinates unitedly. CONSTITUTION:A coordinate value and position-annexed data storing means 26 stores data based upon the input of a teaching manual with relation to prescribed names. A coordinate conversion matrix defining means 27 defines the movement and rotational convertion of a robot coordinate system XY and a newly set-up coordinate system X1Y1 by the coordinate values of two coordinate systems. A number is assigned to the coordinate conversion and stored. A positional data retrieving means 21 retrieves the coordinates value and the data annexed to the position, i.e. the selection of right and left arms and the coordinate value number, from a positional name specified by a moving instruction. A coordinate conversion matrix retrieving means 22 retrieves conversion matrix data from the coordinate system number. On the basis of the retrieved data, parallel movement and rotational movement are executed and the coordinate value of the coordinate system XY is obtained. In addition, uniform conversion to the final servo coordinate conversion system is executed by the selecting data of the right and left arms to control the movement. |
