CIRCULAR ARC POSTURE INTERPOLATING METHOD FOR ROBOT

摘要

PURPOSE:To prevent the locus of a circular arc from being disturbed without generating the fluctuation of speed at an intermediate point by performing the arithmetic operation of tool posture at an interpolation point from the tool posture at the start point and end point of the circular arc. CONSTITUTION:A circular arc center axis rotating part 14 performs the arithmetic operation to calculate virtual tool posture cTi rotated to the interpolation point 17 by rotating the tool posture cTb of the start point of the circular arc calculated at a pre-processing part 11 by a central angle thetai calculated at a circular arc interpolation position generating part 12 around the center axis wZc of the circular calculated at the pre-processing part 11. A vector Va rotating part 15 performs the arithmetic operation to calculate true tool posture cT' at the interpolation point 17 by rotating the tool posture cT calculated at the circular arc center axis rotating part 14 by delta1 calculated at a deltai calculation part 13 around the vector Va of rotational center calculated at the pre-processing part 11. A working coordinate system transformation part 16 at the final stage performs the arithmetic operation to transform the tool posture to the tool posture wTi in a work listing system sTw. The tool posture wTi is supplied to a robot at every interpolation point 17, making it perform work to eliminate a burr, etc., on the locus of the circular arc.