JPS6258304A - Planar copying controller - Google Patents

Planar copying controller

Info

Publication number
JPS6258304A
JPS6258304A JP19927185A JP19927185A JPS6258304A JP S6258304 A JPS6258304 A JP S6258304A JP 19927185 A JP19927185 A JP 19927185A JP 19927185 A JP19927185 A JP 19927185A JP S6258304 A JPS6258304 A JP S6258304A
Authority
JP
Japan
Prior art keywords
points
controller
robot
plane
interpolating
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
Application number
JP19927185A
Other languages
Japanese (ja)
Inventor
Yutaka Yamamoto
Shiro Horiguchi
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Kobe Steel Ltd
Original Assignee
Kobe Steel Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Kobe Steel Ltd filed Critical Kobe Steel Ltd
Priority to JP19927185A priority Critical patent/JPS6258304A/en
Publication of JPS6258304A publication Critical patent/JPS6258304A/en
Pending legal-status Critical Current

Links

Abstract

PURPOSE: To attain the planar copying control by calculating the interpolating points on a plane of the area enclosed by several teaching points on the plane and tracing basically those interpolation points.
CONSTITUTION: A controller 5 first supplies at least four corner points T1WT4 on a working plane and calculates the dividing points P1WP3 on a line connecting two points T1 and T2 and then the dividing points Q1WQ3 on a line connecting both points T3 and T4 respectively. Furthermore a line interpolating means applies the linear interpolation between dividing points Pi and Qi. Then the controller 5 moves a working tool 3 via an orthogonal coordinate type working robot 2 so that the points T1WT4, Pi, Qi and the interpolating points obtained by the interpolation are traced. At the same time, the controller 5 gives the feedback control at least to the final shaft of the robot 2 based on the output signal delivered from a detecting means for working state of the robot.
COPYRIGHT: (C)1987,JPO&Japio
JP19927185A 1985-09-09 1985-09-09 Planar copying controller Pending JPS6258304A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP19927185A JPS6258304A (en) 1985-09-09 1985-09-09 Planar copying controller

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP19927185A JPS6258304A (en) 1985-09-09 1985-09-09 Planar copying controller

Publications (1)

Publication Number Publication Date
JPS6258304A true JPS6258304A (en) 1987-03-14

Family

ID=16405010

Family Applications (1)

Application Number Title Priority Date Filing Date
JP19927185A Pending JPS6258304A (en) 1985-09-09 1985-09-09 Planar copying controller

Country Status (1)

Country Link
JP (1) JPS6258304A (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS63106806A (en) * 1986-10-23 1988-05-11 Shin Meiwa Ind Co Ltd Scanning control method for robot
JPH0220330A (en) * 1988-05-26 1990-01-23 Uniroyal Goodrich Tire Co:The Second stage tire building apparatus and method

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS63106806A (en) * 1986-10-23 1988-05-11 Shin Meiwa Ind Co Ltd Scanning control method for robot
JPH0220330A (en) * 1988-05-26 1990-01-23 Uniroyal Goodrich Tire Co:The Second stage tire building apparatus and method

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