公开(公告)号：EP0062244B1

公开(公告)日：1989-09-06

申请号：EP82102483.3

申请日：1982-03-25

申请人： KABUSHIKI KAISHA YASKAWA DENKI SEISAKUSHO

发明人： Nio, Satoru ,  Sato, Shinobu ,  Fujii, Hajime ,  Hamashima, Toyoji

IPC分类号： G05B19/42 ,  G05B19/403

CPC分类号： B25J9/161 ,  G05B19/4083 ,  G05B19/42 ,  G05B2219/36503 ,  G05B2219/45135

公开(公告)号：EP0062244A1

公开(公告)日：1982-10-13

申请号：EP82102483.3

申请日：1982-03-25

申请人： KABUSHIKI KAISHA YASKAWA DENKI SEISAKUSHO

发明人： Nio, Satoru ,  Sato, Shinobu ,  Fujii, Hajime ,  Hamashima, Toyoji

IPC分类号： G05B19/42 ,  G05B19/403

CPC分类号： B25J9/161 ,  G05B19/4083 ,  G05B19/42 ,  G05B2219/36503 ,  G05B2219/45135

摘要： In a robot locus control method, the coordinates of first three representative points and first work points of an object to be handled by a robot are taught to the robot, when the relative position of the robot and the object is changed, the coordinates of second three representative points corresponding to the first three representative points are taught, and the coordinates of second work points are calculated from the relative position of the first three representative points and the first work points and the second three representative points, thereby to command the robot working focus.