Title:
METHOD AND APPARATUS FOR CONTROLLING ROBOT
Document Type and Number:
Japanese Patent JPS6020207
Kind Code:
A
Abstract:
PURPOSE:To facilitate control of a robot by one point designating the model reference point and conversion reference point respectively and Miller converting when driving route of a robot is linear or plane symmetrical with already indicated teaching data. CONSTITUTION:When working (welding, cutting etc.) a body which is in the relation of plane symmetry with a work 50, a conversion reference point Pc(Pd1) is determined designating a model reference point Pt1. Then, edge lines Pt1-Pt2, Pt2-Pt3, -Ptn-Ptn+1 are Miller converted to obtain edge lines Pd1-Pd2, -Pdn- Pdn+1 and teaching data 50' are determined. The robot is operated and driven basing upon the data 50'. By this way, forming of a work symmetrical to the work 50 becomes easy.
Inventors:
YOKOYAMA SHIGEYOSHI
SUMITA MAKI
SUMITA MAKI
Application Number:
JP12772083A
Publication Date:
February 01, 1985
Filing Date:
July 15, 1983
Export Citation:
Assignee:
HITACHI LTD
HITACHI KEIYO ENG
HITACHI KEIYO ENG
International Classes:
B25J9/16; B25J9/18; B25J9/22; G05B19/4093; G05B19/42; (IPC1-7): B25J9/18; B25J9/22; G05B19/403
Attorney, Agent or Firm:
Katsuo Ogawa