| 摘要 |
PURPOSE:To put the tip of a robot in uniform reproducing operation by using the ratio of a calculated teaching speed and a set speed to obtain target position data by interpolation, and driving the robot for reproduction according to the data. CONSTITUTION:The CPU4 in a microcomputer 1 processes teaching position data according to a program stored in an ROM2 to calculate a target value. In this arithmetic processing, the teaching speed of every control cycle is calculated on the basis of new teaching position data stored in time series and target position data to calculate the speed rate of the calculated teaching speed and set speed, and this speed ratio is used to calculate the target position data by interpolation. The obtained target value signal is sent to the robot through an interface circuit I2 and the robot is driven for reproduction according to the target value data. |
