Robot control method and apparatus
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United States of America Patent
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Jul 21, 1992
Grant Date -
N/A
app pub date -
Feb 2, 1990
filing date -
Sep 1, 1989
priority date (Note) -
Expired
status (Latency Note)
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Abstract
A robot control method of the playback type and an apparatus for using the method in which position data and data regarding velocity are taught at a sequence of points for a work program, and a servo system is driven by the use of the taught data to playback or repeat the work program. Phase angles which increase as the robot progresses through the sequence of teaching points are taught as the data regarding the velocity of the work program. At playback, a reference phase angle computed on the basis of a previously-set playback cycle time for the work program. The reference phase angle increases at an advance velocity which decreases with an increase in the playback cycle time. During operation, the reference phase angle is compared with one of the taught phase angles, and the corresponding taught position data is outputted to the servo system when the reference phase angle exceeds the taught phase angle.
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