Making aforementioned work move vis-a-vis the tool where the stooge

摘要

PROBLEM TO BE SOLVED: To improve working accuracy when a robot hand holds a workpiece and machines it.;SOLUTION: When teaching the position and the posture of a hand for each axis in X-direction, Y-direction and Z-direction with a fore end point of the hand being a coordinate origin, and setting the posture point for determining the posture of the hand at the predetermined distance in each axial direction from the coordinate origin, a control device performs the interpolation so that the movement loci of the posture points of each axis are smoothly connected to each other between the posture points corresponding to the taught postures.;COPYRIGHT: (C)2012,JPO&INPIT