JPH02149403U - - Google Patents
Info
- Publication number
- JPH02149403U JPH02149403U JP5886389U JP5886389U JPH02149403U JP H02149403 U JPH02149403 U JP H02149403U JP 5886389 U JP5886389 U JP 5886389U JP 5886389 U JP5886389 U JP 5886389U JP H02149403 U JPH02149403 U JP H02149403U
- Authority
- JP
- Japan
- Prior art keywords
- point
- group
- teaching
- robot
- nearest
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000010586 diagram Methods 0.000 description 3
Landscapes
- Numerical Control (AREA)
Description
第１図は本考案の構成を明示する図、第２図は
本考案が適用されるレーザ加工機を示す斜視図、
第３図は制御装置を示すブロツク図、第４図は教
示点及び動作軌跡の一例を示す説明図、第５図及
び第６図はＣＰＵでの処理を示すフローチヤート
である。
３０……制御装置、３１……ホストＣＰＵ、３
２……メモリ、３３……ＣＲＴコンソール、３４
……オペレーテイングボツクス、４４……サーチ
キー。
FIG. 1 is a diagram clearly showing the configuration of the present invention, and FIG. 2 is a perspective view showing a laser processing machine to which the present invention is applied.
FIG. 3 is a block diagram showing the control device, FIG. 4 is an explanatory diagram showing an example of teaching points and operation trajectories, and FIGS. 5 and 6 are flowcharts showing processing by the CPU. 30...Control device, 31...Host CPU, 3
2...Memory, 33...CRT console, 34
...Operating box, 44...Search key.
Claims (1)
点と終点とを特定する一つの点群動作命令により
その点群動作命令に包含される一群の教示点を連
続補間する動作を実行する点群動作命令実行手段
とを備えたロボツトの制御装置において、 指令された点群動作命令に包含される一群の教
示点の中でロボツトの現在位置に最も近い教示点
（最近点）を探索する最近点探索手段と、 前記点群動作命令の実行時に前記最近点から補
間動作を開始させる動作開始点選択手段と、 を備えることを特徴とするロボツトの制御装置
。[Claims for Utility Model Registration] A teaching point storage means for storing a large number of teaching points, and a point group movement command that specifies a start point and an end point, and a group of teaching points included in the point group movement command are continuously stored. In a robot control device equipped with a point cloud operation command execution means for executing an interpolation operation, the teaching point closest to the robot's current position among a group of teaching points included in the commanded point cloud operation command ( 1. A control device for a robot, comprising: a nearest point search means for searching for the nearest point; and an operation start point selection means for starting an interpolation operation from the nearest point when executing the point group operation command.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1989058863U JPH074647Y2 (en) | 1989-05-22 | 1989-05-22 | Robot controller |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1989058863U JPH074647Y2 (en) | 1989-05-22 | 1989-05-22 | Robot controller |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH02149403U true JPH02149403U (en) | 1990-12-20 |
| JPH074647Y2 JPH074647Y2 (en) | 1995-02-01 |
Family
ID=31584855
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP1989058863U Expired - Lifetime JPH074647Y2 (en) | 1989-05-22 | 1989-05-22 | Robot controller |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH074647Y2 (en) |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS62212703A (en) * | 1986-03-13 | 1987-09-18 | Fanuc Ltd | Operation restarting method for numerical controller |
-
1989
- 1989-05-22 JP JP1989058863U patent/JPH074647Y2/en not_active Expired - Lifetime
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS62212703A (en) * | 1986-03-13 | 1987-09-18 | Fanuc Ltd | Operation restarting method for numerical controller |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH074647Y2 (en) | 1995-02-01 |
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