Title:
ARC INTERPOLATING METHOD OF ROBOT
Document Type and Number:
Japanese Patent JPS59194213
Kind Code:
A
Abstract:
PURPOSE:To draw an optional arc easily by teaching three optional independent points in three-dimensional space and calculating the arc which passes through said three points by a specific relational expression. CONSTITUTION:A work 13 is clamped by the fingers of a robot 5 and bent by an upper die 9a and a lower die 9b. Once the bending operation starts, the robot- side end surface of the work 3 rises arcuately, so the work 3 should be supported from below. For this purpose, three optional points on the arc are taught and a controller arithmetic part performs arithmetic to move the fingers 17 along the arc. In this case, the X, Y, and Z components in the three-dimensional space are calculated by an arc equation which contains an angle theta from the center of the arc with a radius R as a function. Those are regarded as extents of differentiation as to the angle theta to drive respective servo driving shafts.
Inventors:
ITOU KATSUHIDE
Application Number:
JP6784783A
Publication Date:
November 05, 1984
Filing Date:
April 19, 1983
Export Citation:
Assignee:
AMADA CO LTD
International Classes:
B25J9/16; B21D5/02; G05B19/4103; G05B19/418; (IPC1-7): B25J13/00; G05B19/415
Domestic Patent References:
| JPS615161A | 1986-01-10 | |||
| JPS57201905A | 1982-12-10 | |||
| JPS56114686A | 1981-09-09 |
Attorney, Agent or Firm:
Miyoshi Yasuo