METHOD FOR CIRCULAR ERROR COMPENSATION OF ROBOT

摘要

According to the present invention, in the articulated robot having two or more arms, the arm tip of the arm can be moved along the arc from the current position to the target position, and each arc point of the arc is read and read. Determines the magnitude of the angle, calculates the circular arc coordinates every hour using the determined arc angle, calculates and compensates the circular arc coordinates by exponentially accelerating and decelerating the circular arc coordinates, and calculates the target position of the compensated arc. And calculating the position coordinates from the target position at which the target position of the circular arc is calculated, calculating, determining, and outputting the speed command, and calculating the speed command with the quotient calculated in the step. , Output, final command is output until a certain number of times is reached, and the speed limit is generated during circular interpolation by judging and completing whether the final goal is reached. By preventing by varying the feed rate of the arc to control the speed command does not exceed the limit value increases the position error hangeotim any were able to improve the degree of arc.