公开(公告)号：EP0144442A1

公开(公告)日：1985-06-19

申请号：EP84902069.8

申请日：1984-05-25

申请人： FANUC LTD.

发明人： TOYODA, Kenichi ,  SAKAKIBARA, Shinsuke Mezon-Izumi 101 ,  MIZUNO, Tooru ,  HARA, Ryuichi Hirayamashataku 202 10-1, 2-chome

IPC分类号： G05B19/415

CPC分类号： G05B19/41 ,  G05B2219/45083 ,  G05B2219/50353

摘要： 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 (P i , P 2 ...: Q 1 , Q 2 ...) 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.

公开(公告)号：EP0144442B1

公开(公告)日：1991-01-02

申请号：EP84902069.8

申请日：1984-05-25

申请人： FANUC LTD.

发明人： TOYODA, Kenichi ,  SAKAKIBARA, Shinsuke Mezon-Izumi 101 ,  MIZUNO, Tooru ,  HARA, Ryuichi Hirayamashataku 202 10-1, 2-chome

IPC分类号： G05B19/415

CPC分类号： G05B19/41 ,  G05B2219/45083 ,  G05B2219/50353

摘要： 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.