초록 ▼

An industrial robot arc control method subjects the position of a working member to circular-arc control by interpolation while controlling the target angle of the working member with respect to a surface to be worked, which working member is mounted on the wrist of an industrial robot. The industri

An industrial robot arc control method subjects the position of a working member to circular-arc control by interpolation while controlling the target angle of the working member with respect to a surface to be worked, which working member is mounted on the wrist of an industrial robot. The industrial robot circular arc control method includes obtaining corresponding points (P1, P2 . . . ; Q1, Q2 . . . ;) of the tip and base of the working member (TC) at plural taught points for circular-arc control of the tip of the working member, which is mounted on a wrist (HD) of the robot, finding interpolated points of the tip and base of the working member by interpolation from the corresponding taught points, and obtaining command quantities for the motion axes of the robot from the interpolated points.

대표청구항 ▼

An industrial robot circular arc control method for an industrial robot which possesses a plurality of motion axes along which motion is effected by a plurality of respective motors, and a control unit for controlling each of the motors of the robot, the control unit controlling each of the motors t

An industrial robot circular arc control method for an industrial robot which possesses a plurality of motion axes along which motion is effected by a plurality of respective motors, and a control unit for controlling each of the motors of the robot, the control unit controlling each of the motors to move a tip of a working member, which is mounted on a wrist of the robot, along a circular arc, said method comprising the steps of: storing positions of the tip and base of the working member at a predetermined rotational angle of the wrist, with a predetermined point Qt in the plane of the wrist of the robot serving as a reference; positioning the tip of the working member at each taught point at a predetermined target angle and storing, as taught data, the position of the predetermined point Qt in the plane of the wrist and the rotational angle of the wrist at each taught point; finding positions of the tip and base of the working member in a robot coordinate system based on said stored taught data and the positions of the tip and base of the working member where the predetermined point Qt in the plane of the working member serves as the reference, and using these positions as plural taught points of the tip and base of the working member; obtaining corresponding points of the tip and a base of the working member at the plural taught points for circular-arc control of the tip of the working member; finding interpolated points of the tip of the working member by interpolation from the corresponding points of the tip of the working member; finding interpolated points of the base of the working member by interpolation from the corresponding points of the base of the working member; obtaining motion command quantities for the respective motion axes from interpolated points obtained for the tip and the base; and controlling the motors on the basis of the command quantities.