CONTROL PROCESS FOR MULTI-JOINT MANIPULATOR AND ITS CONTROL PROGRAM AS WELL AS ITS CONTROL SYSTEM

PROBLEM TO BE SOLVED: To control a multi-joint manipulator by using NC data as they are. SOLUTION: A scanning obit when a manipulator top end part cuts an object is decided (a step S101). Then, the scanning orbit is projected to a working model created by a three-dimensional CAD, and the dot-sequential data of the scanning orbit when the manipulator top end part cuts the object are acquired (a step S102). Then, a top end position attitude matrix T of the manipulator top end is calculated from the acquired dot-sequential data of the scanning orbit for the dot-sequential data of each scanning orbit (a step S103). Each top end position attitude matrix T calculated in this way corresponding to the scanning orbit R1 is acquired by the controller of the multi-joint manipulator (a step S104). Then, the manipulator top end is made to operate on the predetermined orbit corresponding to the surface of the working model created by a three-dimensional CAD so that an object to be worked can be cut in the shape of a working model being a virtual shape model (a step S105). COPYRIGHT: (C)2004,JPO