| 摘要 |
PURPOSE:To improve the positioning control precision of a robot which employs a teaching/playback system by updating teaching data through correction based upon deviation during playback operation. CONSTITUTION:Position data stored in a main storage means is denoted as xT and position data reproduced actually when the robot is played back is denoted as xp. Then, a control error at some point on a trace during the playback operation is epsilon=xT-xP. This varies with the moving speed, moving direction, and position of the robot. When, however, the robot moves in a fixed direction at a predetermined speed, the robot has such a control peculiarity that an error attends. This error is detected easily, so it is calculated by an arithmetic means and then added to data reproduced at present. Namely, arithmetic xTP=xT+epsilon is carried out and teaching data xT in the main storage means is rewritten into the arithmetic result data XTP. |
