| 摘要 |
PURPOSE:To control continuously the track of a robot, which is provided with plural revolving shafts, with a high precision by using the deviation vector between the current position and the target position of the robot as a target position vector. CONSTITUTION:A target position Xv from a target position generating means 400 is inputted to a speed vector generating means 401. A coordinate converting means 407 converts a positional displacement theta in the coordinate system peculiar to the robot to a current position X in a prescribed space coordinate and supplies it to the speed vector generating means 401. The generating means 401 outputs a target speed vector on a basis of the deviation vector between the target position Xv and the current position X. This target speed vector is converted inversely to the coordinate system peculiar to the robot by an inverse coordinate converting meand 402 and is inputted as an operation vector to a servomechanism. Thus, the track of the robot provided with plural revolving shafts is controlled continuously with a high precision. |
