Title:
WRIST ANGLE INTERPOLATING METHOD OF INDUSTRIAL ROBOT
Document Type and Number:
Japanese Patent JPS58189707
Kind Code:
A
Abstract:
PURPOSE:To hold a tool in its optimum position, by calculating the position vectors of two directions for a tool provided at a wrist of an industrial robot from the position information on the teaching points at both ends of a route to be interpolated and then reproducing these position vectors after storage to calculate and then interpolate the wrist angle. CONSTITUTION:When an interpolation is given to the wrist angle of an industrial robot, torch direction vectors T1 and T2 are calculated as position vectors of a tool, i.e. a welding torch at both teaching ends P1 and P2. These vectors are stored. When these vectors are reproduced, the torch direction vector Tm' of the middle position between the points P1 and P2 is obtained by an interpolation operation based on the number of divisions of the route. Furthermore the torch direction vector is normalized to length 1 to obtain a vector Tm. Therefore the termination of the Tm is on a straight line LB and at the same time crosses a straight line LA. With such an interpolation operation, the position of a tool can be held in its optimum position during a reproduction.
Inventors:
MURAKAMI TSUDOI
NAGAHAMA TAKAHIDE
NAGAHAMA TAKAHIDE
Application Number:
JP7226282A
Publication Date:
November 05, 1983
Filing Date:
April 28, 1982
Export Citation:
Assignee:
KOBE STEEL LTD
International Classes:
B25J9/16; G05B19/41; G05B19/4103; (IPC1-7): B25J13/00; G05B19/42
Domestic Patent References:
| JPS5733989A | 1982-02-24 |
Attorney, Agent or Firm:
Aoyama