Robot controller for controlling arc motion of robot
AssigneeFanuc Corporation
InventorTomonori Matsushima
Life of this patent
Estimating the term…
Abstract
A robot controller controls an arc motion of a robot. The robot controller includes an interpolation point setting unit that sets an interpolation point between movement points in an operation program. The robot controller includes a movement-point angle calculation unit that calculates an angle relating to a reference direction for determining the orientation of the robot, and an interpolation-point angle calculation unit that calculates an angle relating to the reference direction at an interpolation point by interpolating angles relating to the reference direction at the movement points. The reference direction is a direction independent from the positions of the movement points and is set in an operation program in a predetermined coordinate system.
Claims8
A robot controller for controlling an arc motion of a robot, the robot controller comprising:
- a storage unit storing an operation program for determining a position and orientation of the robot at a predetermined movement point of a plurality of movement points;
- an interpolation point setting unit configured to set an interpolation point between the plurality of movement points;
- a movement-point angle calculation unit configured to calculate, based on the orientation of the robot, an angle relating to a reference direction at the predetermined movement point;
- an interpolation-point angle calculation unit configured to calculate an angle relating to the reference direction at the interpolation point by interpolating angles relating to the reference direction at the plurality of movement points;
- and
- an orientation calculation unit configured to calculate the orientation of the robot at the interpolation point based on the angle relating to the reference direction at the interpolation point,
- wherein the reference direction is a direction independent from positions of the plurality of movement points and is set in the operation program in a predetermined coordinate system, and
- the robot controller is configured to drive the robot to the interpolation point with the orientation calculated by the orientation calculation unit.
A robot controller for controlling an arc motion of a robot, the robot controller comprising:
- a memory storing an operation program for determining a position and orientation of the robot at a predetermined movement point of a plurality of movement points;
- and
- a processor configured to
- set an interpolation point between the plurality of movement points,
- calculate, based on the orientation of the robot, an angle relating to a reference direction at the predetermined movement point,
- calculate an angle relating to the reference direction at the interpolation point by interpolating angles relating to the reference direction at the plurality of movement points,
- calculate the orientation of the robot at the interpolation point based on the angle relating to the reference direction at the interpolation point, wherein the reference direction is a direction independent from positions of the plurality of movement points and is set in the operation program in a predetermined coordinate system, and
- drive the robot to the interpolation point with the calculated orientation.
Dependencies are inferred from the claim text.