Title:
METHOD AND DEVICE FOR STORING ROUTE OF INDUSTRIAL ROBOT
Document Type and Number:
Japanese Patent JPS58176705
Kind Code:
A
Abstract:
PURPOSE:To reduce the storage capacity, by sampling the teaching route with a CP system and then compressing the teaching route at three points based on a certain judging standard with addition of an arc interpolation. CONSTITUTION:The distance (l) is calculated from the newest point Pn-1 among those stored in a tentative storage means 27 to the position of a robot, and a point Pn where a prescribed pitch lc is obtained is written to the means 27. At the same time, an angle an formed with a line connecting a preceding point Pn-2 and the point Pn-1 and a line connecting the point Pn-1 and the point Pn is stored in the means 27 in the form of a data which is opposite to the point Pn. When the difference between the angle an and the oldest angle a1 among the angles an which are successively stored exceeds the allowance value, the position data on another point between the points is transferred to a main storage 28 and stored in the form of a position data of arc interpolation which is obtained in a reproduction mode. While the data on the point Pn and the angle an are kept at the means 27 as the initial values with other data all erased.
Inventors:
MURAKAMI TSUDOI
NASU SHIYOUJI
NAGAHAMA TAKAHIDE
NASU SHIYOUJI
NAGAHAMA TAKAHIDE
Application Number:
JP5944582A
Publication Date:
October 17, 1983
Filing Date:
April 08, 1982
Export Citation:
Assignee:
KOBE STEEL LTD
International Classes:
G05B19/42; (IPC1-7): B25J9/00; B25J13/00
Attorney, Agent or Firm:
Aoyama