METHOD OF CONTROLLING INDUSTRIAL ROBOT ALONG ARC

Title:

METHOD OF CONTROLLING INDUSTRIAL ROBOT ALONG ARC

Document Type and Number:

WIPO Patent Application WO/1984/004828

Kind Code:

A1

Abstract:

A method of controlling an industrial robot along an arc wherein the position of a working member attached to the wrist of the industrial robot is controlled along an arc by interpolation, while the angle of the working member with respect to a surface being worked is controlled. The method comprises the steps of obtaining corresponding points (P1, P2 ...: Q1, Q2 ...) of the far end and near end of the working member (TC) attached to the wrist (HD) of the robot at a plurality of instruction points, for controlling the far end of the working member (TC) along an arc; obtaining interpolation points of the far end and near end of the working member from interpolation using the pairs of corresponding points; and obtaining command quantities for the operational axes of the robot from both interpolation points.

Inventors:

TOYODA KENICHI (JP)
SAKAKIBARA SHINSUKE (JP)
MIZUNO TOORU (JP)
HARA RYUICHI (JP)

Application Number:

PCT/JP1984/000268

Publication Date:

December 06, 1984

Filing Date:

May 25, 1984

Export Citation:

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Assignee:

FANUC LTD (JP)

International Classes:

B25J9/16; B25J9/18; G05B19/41; G05B19/4103; (IPC1-7): G05B19/415

Foreign References:

JPS57139810A	1982-08-30
JPS5786905A	1982-05-31

Other References: