| 摘要 |
PURPOSE:To attain a robot which has abundant functionality and is operated accurately, by processing interpolating data in an operating part so that detection position information of a position detecting sensor can be processed as position information of a robot of another coordinate system. CONSTITUTION:Coordinates as position data of a point A detected by a sensor 8 is inputted to a control operation part 4 through an interface 5, and a JOG command is inputted furthermore to match the finger of a robot body 1 to the point A by a manual operation. Thereafter, coordinates of the point A are taken into the operation part 4 by a storage part 6 where the position of the robot is stored. Similarly, coordinates of a new point B due to the sensor 8 are taken into the operation part 4 to match the finger of the robot body 1 to the point B. Coordinates of the point B as the current position are taken in by the storage part 6. The operation part 4 calculates an extent of parallel movement and an extent of rotative movement to be interpolating data on the basis of these four coordinates. |
