| 摘要 |
PURPOSE:To save a deviation memory in an instructing and reproducing type roboty by comparing a deviation obtained at a current reproducing position with that at a past point of time, using the past deviation when the current value is less than a reference value and storing the current value as a new deviation when more than the reference value. CONSTITUTION:In the instruction operation, instruction data R(1, j) are stored in respective locatiins of an objective value memory. After initialization in the reproducing operation, the instruction data R on an instruction position 1 are added to integrated value data E in an integrated value memory to calculate objective value data R(m, j) and operation is executed by using said objective value data R(m, j) as an objective value. After repeating the reproducing operation, real tracking data Y(m, j) are inputted and the deviation E(m, j-n)=R(1, j)- Y(m, j) (n is a value obtained by dividing dynamic delay time by a control period) is calculated. A current deviation E(m, 1) is compared with a deviation E(m, k) on a past point of time, and when the compared result is less than a prescribed reference value, the past deviation is adopted and is not stored. When more than the reference value, the current deviation E(m, 1) is stored. |
