JPS62134687U - - Google Patents
Info
- Publication number
- JPS62134687U JPS62134687U JP2227286U JP2227286U JPS62134687U JP S62134687 U JPS62134687 U JP S62134687U JP 2227286 U JP2227286 U JP 2227286U JP 2227286 U JP2227286 U JP 2227286U JP S62134687 U JPS62134687 U JP S62134687U
- Authority
- JP
- Japan
- Prior art keywords
- coordinate system
- manipulator
- point
- target value
- earth
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000001131 transforming effect Effects 0.000 claims 2
- 238000010586 diagram Methods 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 2
Landscapes
- Numerical Control (AREA)
Description
第１図は本考案５軸マニピユレーターの円弧補
間制御装置の一実施例を示す系統図、第２図は第
１図の円弧定義装置の機能を示す説明図、第３図
及び第４図は５軸マニピユレーターの座標系を示
す説明図で、第３図は作業平面がＺ軸と平行の場
合、第４図は作業面がＺ軸と平行でない場合であ
る。
１……５軸マニピユレーター、２……マニピユ
レーター駆動部、３……マニピユレーター補間点
目標値設定部、４……テイーチングボツクス、５
……座標変換装置、６……座標変換装置、７……
円弧定義装置、８……円弧補間装置、９……座標
逆変換装置、１０……座標逆変換装置、１１……
作業面。
Fig. 1 is a system diagram showing an embodiment of the circular interpolation control device for the 5-axis manipulator of the present invention, Fig. 2 is an explanatory diagram showing the functions of the circular arc definition device shown in Fig. 1, and Figs. 3 and 4. FIG. 3 is an explanatory diagram showing the coordinate system of a five-axis manipulator. FIG. 3 shows a case where the work plane is parallel to the Z-axis, and FIG. 4 shows a case where the work plane is not parallel to the Z-axis. 1... 5-axis manipulator, 2... Manipulator drive section, 3... Manipulator interpolation point target value setting section, 4... Teaching box, 5
...Coordinate conversion device, 6...Coordinate conversion device, 7...
Circular arc definition device, 8...Circular interpolation device, 9...Coordinate inversion device, 10...Coordinate inversion device, 11...
work surface.
Claims (1)
マニピユレーターの関節座標系から地球座標系へ
変換する手段と、上記テイーチング３点を更に地
球座標系から作業座標系へ変換する手段と、作業
座標系における上記３点を通る円弧を定義する手
段と、作業座標系においてマニピユレーターの手
先が上記円弧状の移動をするためのある時間刻み
の補間点目標値を算出する手段と、上記補間点目
標値を作業座標系から地球座標系へ逆変換する手
段と、上記補間点目標値を更に地球座標系からマ
ニピユレーターの関節座標系へ逆変換する手段と
、関節座標系における補間点目標値をマニピユレ
ーター目標値設定部に付与する手段とを具えたこ
とを特徴とする５軸マニピユレーターの円弧補間
制御装置。 means for converting three teaching points, a start point, an intermediate point, and an end point, from a joint coordinate system of a manipulator to an earth coordinate system; a means for further converting the three teaching points from the earth coordinate system to a work coordinate system; means for defining an arc passing through the three points in the coordinate system; means for calculating an interpolation point target value at a certain time interval for the hand of the manipulator to move in the arc shape in the work coordinate system; and the interpolation point in the work coordinate system. means for inversely transforming the point target value from the work coordinate system to the earth coordinate system; means for further inversely transforming the interpolated point target value from the earth coordinate system to the joint coordinate system of the manipulator; and an interpolated point target in the joint coordinate system. 1. A circular interpolation control device for a five-axis manipulator, comprising means for applying a value to a manipulator target value setting section.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2227286U JPS62134687U (en) | 1986-02-19 | 1986-02-19 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2227286U JPS62134687U (en) | 1986-02-19 | 1986-02-19 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS62134687U true JPS62134687U (en) | 1987-08-25 |
Family
ID=30819497
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2227286U Pending JPS62134687U (en) | 1986-02-19 | 1986-02-19 |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS62134687U (en) |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS56114686A (en) * | 1980-02-08 | 1981-09-09 | Hitachi Ltd | Arc interpolation method |
| JPS57201905A (en) * | 1982-03-25 | 1982-12-10 | Shin Meiwa Ind Co Ltd | Circular arc interpolating device for position controller |
-
1986
- 1986-02-19 JP JP2227286U patent/JPS62134687U/ja active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS56114686A (en) * | 1980-02-08 | 1981-09-09 | Hitachi Ltd | Arc interpolation method |
| JPS57201905A (en) * | 1982-03-25 | 1982-12-10 | Shin Meiwa Ind Co Ltd | Circular arc interpolating device for position controller |
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