| 摘要 |
PURPOSE:To determine easily the movement direction of a robot independently of the position of a work, by defining the direction, to which an arm of a robot having a multijoint structure is turned, as a temporary reference and moving the robot vertically and horizontally from this position. CONSTITUTION:A Y'-axis to which a lower arm 3 and an upper arm 4 are directing is used as a temporary reference axis to move a robot from a point P to a point P' which is placed in the direction vertical to the Y'-axis (in the direction of a temporary reference axis X'). Reference axes X and Y are rotated at an angle theta to reference axes X' and Y', and all angles corresponding to 5 degrees of freedom including this angle theta are always inputted to a controlling means, and the value of this angle theta is used in the internal operation. A target position in the XYZ coordinate system is operated by the internal operation processing and is converted to a target value in the arm angle theta system by the reverse coordinate conversion, and the servo control with data in this theta system as a target value is performed. Thus, the operator determines the movement direction of the robot easily without errors independently of the position of a work 10. |
