PURPOSE: To perform the verifying operation efficiently with high precision by setting a new virtual target position between the coordinates of a virtual target position which is reachable, and the coordinates of a target position. ;CONSTITUTION: When it is judged during the off-line teaching that a tool can not reach an operation position, a converging process is entered to set a virtual target position CK between the position and direction of TCP(tool center point) and the position and direction of the target position CT. Then, when it is judged that the position CT is reachable, a new virtual target position CK (=CK+1) is set between the virtual target position CK and the target position CT and until it is judged that this position CK is within a convergence range, respective processes are automatically carried on. Further, when it is decided that the tool can not reach the position CK, the position CK is set as a target position to generate a new virtual target position, and the respective processes are carried out until the tool reaches the virtual target position in the convergence range.;COPYRIGHT: (C)1995,JPO
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机译：目的：通过在可到达的虚拟目标位置的坐标和目标位置的坐标之间设置新的虚拟目标位置，以高精度高效地执行验证操作。 ;构成：在离线示教中判断刀具不能到达操作位置时，进入收敛过程，在TCP的位置和方向（刀具中心点）与该位置之间设置一个虚拟目标位置CK目标位置CT的方向和方向。然后，当判断位置CT可到达时，在虚拟目标位置CK和目标位置CT之间设置新的虚拟目标位置CK（= CK +1 ），直到判断为止。如果该位置CK在会聚范围内，则自动进行各个处理。此外，当确定工具不能到达位置CK时，将位置CK设置为目标位置以生成新的虚拟目标位置，并且进行相应的处理，直到工具到达工件的虚拟目标位置为止。收敛范围。;版权：（C）1995，日本特许厅
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