JPS57111609A - Track control system for robot - Google Patents

Abstract

PURPOSE:To move a robot continuously at route points at smooth speeds without causing acceleration-deceleration-stopping as the operator assigns the passage error quantity near the assigned route points of the arm movement of said robot arbitrarily. CONSTITUTION:A start signal is inputted to a read device 1, and the 1st parameter of a memory 2 is transferred to a coordinate conversion circuit 3. The circuit 3 operates the 2nd preparation parameter necessary for execution of linear and circular movement in accordance with the 1st parameter, and inputs the same to a linear movement locus output circuit 4 and a circular movement locus output circuit 5. In the circuit 4, a linear movement distance and three-dimensional space movement positions are determined and in the circuit 5, moving displacement angles and three-dimensional space movement positions are determined respectively, and are transmitted to a robot servo-driving circuit 6. The arm of the robot moves at a constant linear speed between the assigned route positions Ri-1, Ri, Ri+1, and near the assigned route position Ri, it moves on the discribed circle O1r1P1 determined by the preset neighboorbood passage error quantity DELTAi at the circumferential speed of the same value as that of the linear speed.