| 摘要 |
PURPOSE:To control a circular arc path with high accuracy by moving a hand along a circular arc of an orthogonal coordinate system within an allowable error range, in a play-back type industrial robot. CONSTITUTION:In case when a hand is moved along a circular arc, when the moving speed is high, the circular arc is divided so as to be contained within an allowable error range at the time of teaching, each divided point is stored in a memory 102, and the hand is moved in accordance with a stored data at the time of reproduction. When the moving speed is low, only three points for specifying the circular arc are stored in the memory 102 at the time of teaching, a coordinate of the divided point contained in the allowable error range is derived by real time at the time of reproduction, and basing on its divided point, the hand is moved. |
