| 摘要 |
PURPOSE:To attain the correct conversion of coordinates by executing the conversion of coordinates indicated by a shift instruction with reference to a rewritable parameter table. CONSTITUTION:A robot has many horizontal joints as well as the 1st and 2nd arms 2 and 6. The angles 1 and 3 of arms 2 and 6 are calculated from the orthogonal coordinates through coordinate conversion 10 with reference to the contents of a parameter table 11. The length and the initial angles of arms are included in the contents of the table 11 and can be changed by a rewriting procedure 13. While a shift instruction 12 is given for the conversion 10. Therefore the work is initialized by the table 11 at a normal touring point 8. Then the work of an additional touring point 7 is carried out by changing 4 the length of the arm 6 and correcting 5 the initial value of the angle 3. |
