Robot controller for controlling arc motion of robot
AssigneeFanuc Corporation
InventorTomonori MATSUSHIMA
Life of this patent
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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.
Claims5
A robot controller for controlling an arc motion of a robot, comprising:
- a storage unit that stores an operation program for determining a position and orientation of the robot at predetermined movement point;
- an interpolation point setting unit that sets an interpolation point between the movement points;
- a movement-point angle calculation unit that calculates, at the movement point, an angle relating to a reference direction for determining the orientation of the robot based on the orientation of the robot;
- an interpolation-point angle calculation unit that calculates an angle relating to the reference direction at the interpolation point by interpolating angles relating to the reference direction at the movement points;
- and
- an orientation calculation unit that calculates 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 movement points and is set in the operation program in a predetermined coordinate system.
Dependencies are inferred from the claim text.