Title:
ARC WEAVING CONTROL SYSTEM
Document Type and Number:
Japanese Patent JPS6115208
Kind Code:
A
Abstract:
PURPOSE:To obtain easily the arc weaving control data and to attain the accurate arc weaving control by using the arc weaving data used in the first cycle also in the next cycle after rotating the weaving data at a fixed angle. CONSTITUTION:A point PDELTAphi on an arc is displaced by DELTAphi from a line connecting a start point P1 and a center point O on the arc. A weaving action is carried out between both points P1 and Pphi via points Q1 and Q2. These points P1, Q1, Q2 and Pphi are set on an action route of a cycle. Then the point Pphi is used as a start point of the next cycle together with a point on the arc having a displacement of DELTAphi defined as an end point respectively. In the same way, a weaving action is performed between these start and end points. In other words, the start point P1 is rotated by an angle DELTAphi centering on the normal vector C on the point O to obtain the weaving data of the second cycle. Thus the arc weaving data can be obtained by repeating such cycles. In this control system the teaching data of the following cycles can be used repetitively after teaching the first cycle data.
Inventors:
KISHI HAJIME
SAKAKIBARA SHINSUKE
ISHIKAWA HARUYUKI
SAKAKIBARA SHINSUKE
ISHIKAWA HARUYUKI
Application Number:
JP13608384A
Publication Date:
January 23, 1986
Filing Date:
June 30, 1984
Export Citation:
Assignee:
FANUC LTD
International Classes:
B23K9/12; B25J9/10; B25J9/22; B25J13/00; G05B19/4093; G05B19/42; G05B19/423; (IPC1-7): B23K9/12; B25J9/10; B25J13/00; G05B19/403; G05B19/42
Domestic Patent References:
| JPS5856105A | 1983-04-02 | |||
| JPS522952A | 1977-01-11 | |||
| JPS56114685A | 1981-09-09 | |||
| JPS5876905A | 1983-05-10 | |||
| JPS5976793A | 1984-05-01 |
Attorney, Agent or Firm:
Minoru Tsuji