PURPOSE: To improve the efficiency and precision of robot control by obtaining a corresponding seam place based on a passing distance corresponding to a sensing place obtained from a picture processor and a predicted place in a control processor.
CONSTITUTION: The control processor 122 correlates the sensing place with the passing distance from the starting point of a sensor and an operation end position is correlated with the passing distance 123 from the starting point. The control processor 122 detects the corresponding seam place based on the sensing place 104 obtained from the picture processor 101 and the passing distance 128 corresponding to the predicted position, and the predicted position is correlated with the passing distance obtained by means of external insertion on the indication route of the robot. Thus, the corresponding seam place is obtained as the function of an external insertion distance among the sensing places of the picture processor 101. Consequently, the corresponding seam place is precisely obtained by interpolating a distance between the two continuous sensing seam places corresponding to the passing distance whose boundary is in contact with the applied external insertion passing distance by the control processor.
JIEEMUSU FURANTSU ERISON
JIERARUDO ANDORIYUU BUREEKII
| JPS56131077A | 1981-10-14 | |||
| JPS62502110A | 1987-08-20 | |||
| JPS60127987A | 1985-07-08 | |||
| JPS60124475A | 1985-07-03 | |||
| JPS6388612A | 1988-04-19 |