PURPOSE:To reduce errors with a target work coordinate track by realizing such an approximate solved track as connecting continuously and smoothly the solved tracks of the reverse kinematic equation that the before and after teaching points interposing a singular point differ respectively as the algorithm passing through the proper singular point of the link mechanism of an articulated robot. CONSTITUTION:The formation of a work coordinate track by an interpolation calculation is performed on the work coordinate system of an ordinary robot between the fore and aft teaching points in playback by teaching only the main point of the work by a teaching and playback method robot. A joint angle control is then performed by converting this formed work coordinate track into a joint angle coordinate track by a reverse kinematic equation finally. In this case, the approximate solved track like connecting continuously and smoothly the tracks of the reverse kinematic equation of the respectively different teaching points of before and after interposing the singular point (¦beta¦=90 deg.) is realized as the algorithm passing through the proper singular point (¦beta¦=90 deg.) of the link mechanism of an articulated robot.
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