JPS6459507A - Robot controller - Google Patents
Robot controllerInfo
- Publication number
- JPS6459507A JPS6459507A JP21699887A JP21699887A JPS6459507A JP S6459507 A JPS6459507 A JP S6459507A JP 21699887 A JP21699887 A JP 21699887A JP 21699887 A JP21699887 A JP 21699887A JP S6459507 A JPS6459507 A JP S6459507A
- Authority
- JP
- Japan
- Prior art keywords
- interpolation
- locus
- applying
- data
- proximate
- 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.)
- Granted
Links
Landscapes
- Numerical Control (AREA)
- Manipulator (AREA)
Abstract
PURPOSE:To shorten a setting time, by smoothing a locus on which a robot moves by applying interpolation by a quadratic expression mainly, and applying the interpolation by a linear expression in the neighborhood of a targeted position. CONSTITUTION:The titled device is constituted of a locus generating part 1, a locus data storage part 2 which stores at least three proximate data out of locus data, an interpolation arithmetic part 3 which generates position command data by applying the interpolation by the quadratic expression based on the three proximate data stored in the locus data storage part 2 before receiving a timing signal and applying the interpolation by the linear expression based on the proximate 2 stored in the locus data storage part 2 after receiving the timing signal, and a position control part 4 which moves the robot by position command data computed at the interpolation arithmetic part 3. In such a way, it is possible to generate the position command data in which smoothness of the same extent as the ease of the quadratic expression is provided and no interpolating point exceeds the targeted position, and to accelerate the setting time.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP62216998A JPH07122820B2 (en) | 1987-08-31 | 1987-08-31 | Robot controller |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP62216998A JPH07122820B2 (en) | 1987-08-31 | 1987-08-31 | Robot controller |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS6459507A true JPS6459507A (en) | 1989-03-07 |
| JPH07122820B2 JPH07122820B2 (en) | 1995-12-25 |
Family
ID=16697214
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP62216998A Expired - Lifetime JPH07122820B2 (en) | 1987-08-31 | 1987-08-31 | Robot controller |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH07122820B2 (en) |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61214005A (en) * | 1985-03-20 | 1986-09-22 | Nippon Kokan Kk <Nkk> | Arc track forming method for servomechanism |
-
1987
- 1987-08-31 JP JP62216998A patent/JPH07122820B2/en not_active Expired - Lifetime
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61214005A (en) * | 1985-03-20 | 1986-09-22 | Nippon Kokan Kk <Nkk> | Arc track forming method for servomechanism |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH07122820B2 (en) | 1995-12-25 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| EXPY | Cancellation because of completion of term | ||
| FPAY | Renewal fee payment (prs date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20071225 Year of fee payment: 12 |