To solve the problem that, in a conventional mirror conversion method, any desired result cannot be obtained by the presence of a plurality of possibilities during the inverse conversion of obtaining the angle of each constitutional shaft of a robot from a matrix corresponding to the position and the posture.
A mirror program is prepared from an original program by forming a mirror symmetric surface into a plane passing through the axis of a first rotary shaft of a vertical articulated robot orthogonal to a surface with the vertical articulated robot being installed thereon; setting the angle of the first rotary shaft to the angle while the angular difference from the mirror symmetric surface is sign-changed; setting the angle of other rotary shafts than the first rotary shaft in the plane passing through the first rotary shaft when the first rotary shaft is at the angle forming the reference value to the angle while the difference from the reference value of each rotary shaft is sign-inverted; and setting the angle of the rotary shaft orthogonal to the plane passing through the first rotary shaft as it is when the first rotary shaft is at the angle forming the reference position.
| JP2007523757A | 2007-08-23 |
Daisuke Nagano
Kentaro Fujii