Title:
【発明の名称】ロボットを用いて回転体表面に均一に物質を付着させる方法
Document Type and Number:
Japanese Patent JP2620883
Kind Code:
B2
Abstract:
A robot control apparatus calculates periodically the coordinate values on a work coordinates system. A target moving position in the direction of the axis of rotation of the nozzle on the system is expressed by a function of the time elapsed from the start point of the material position and a target moving position in the radial direction of the nozzle corresponding to the former. The coordinate values are transformed into those on a robot based coordinates system which are in turn transformed into robot-axis data. Pulse distribution is made in accordance with the moving distance of each axis of the robot in this period calculated from the data described above and the data of the previous period.
Inventors:
Hirohiko Kobayashi
Application Number:
JP16532589A
Publication Date:
June 18, 1997
Filing Date:
June 29, 1989
Export Citation:
Assignee:
FANUC Corporation
International Classes:
B25J13/00; B05B13/02; B05B13/04; B05D1/02; B05D1/40; G05B19/418; (IPC1-7): B05D1/40; B05D1/02; B25J13/00
Attorney, Agent or Firm:
Matsumoto Takemoto (2 outside)