| 摘要 |
PURPOSE:To make a reproduced value close to instruction data without excess control in an instructing and reproducing robot by setting up a deviation value to be added at the successive reproduction to a value smaller than the preceeding one even at a place where the mark of the deviation is changed at the repeat of the reproduction. CONSTITUTION:In the instruction operation, instruction data on instruction positions up to locations 1-jmax are stored in the area M2 of a memory RAM, the deviation E(m, j) of a location j+n is stored in the location (j) of an area M3, the mark of the deviation between the mth and (m-1)th data is stored in an area M4, and then a deviation E(m-1, j) due to the (m-1)th reproduction and the integrated value SIGMAE(i, j) of the deviation are stored in the areas M6 and M7 respectively. If the mark of the deviation E(mt) at the mt-th reproduction is changed from the mark of the deviation at the preceeding reproduction, the deviation value is reduced by 1/2 and the reduced value is added to the integrated value E to prevent excess control at the use of the preceeding deviation as an objective value. Consequently, the deviation is reduced and excess control is prevented. |
