Title:
ROBOT CONTROLLER
Document Type and Number:
Japanese Patent JPS59231608
Kind Code:
A
Abstract:
PURPOSE:To allow a robot to pass specified passing points accurately at a high speed by providing a track generating device, curvature calculating device, and speed pattern correcting device which corrects a standard speed pattern automatically, and correcting and using a speed pattern which is stored previously. CONSTITUTION:The track generating device 21 performs interpolation between passing points 19P1-19Pn by a section polynomial, the curvature calculating device 23 calculates the curvature of a track curved line generated by the device 21, and a position calculating device 22 calculates the position of a working coordinate system from the generated track expression. On the other hand, the speed pattern generating device 25 generates the speed pattern on the basis of a speed pattern selection signal 20 and a maximum speed 11, and the generated speed pattern is corrected 24 on the basis of the curvature calculated by the curvature calculating device 23.
Inventors:
KANDA TOMOYUKI
SHIOTANI KEIICHI
OOSHIGE TOYOMI
KAWASHIMA YOSHIKAZU
SHIOTANI KEIICHI
OOSHIGE TOYOMI
KAWASHIMA YOSHIKAZU
Application Number:
JP10604183A
Publication Date:
December 26, 1984
Filing Date:
June 14, 1983
Export Citation:
Assignee:
MITSUBISHI ELECTRIC CORP
International Classes:
B25J9/16; G05B19/416; (IPC1-7): G05B19/407; B25J13/00
Attorney, Agent or Firm:
Masuo Oiwa
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