ROBOT CONTROLLER AND ROBOT ATTITUDE INTERPOLATION METHOD

PROBLEM TO BE SOLVED: To improve working accuracy in a case where robot fingers gasp a workpiece and process the workpiece.SOLUTION: In a case of teaching positions and attitudes of fingers on axes in X, Y, and Z directions with a finger tip point set as a coordinate origin and setting attitude points for specifying attitudes of the fingers at predetermined distances from the coordinate origin in the respective axial directions, a controller performs interpolation such that moving loci of the attitude points on the respective axes among the attitude points corresponding to the taught attitudes can be smoothly connected. Specifically, the controller calculates attitude coordinate values in two directions for calculating a target moving point defined by components created into coordinates in the predetermined two directions among the X, Y, and Z directions by a rotation matrix conversion process, and creates unit vectors toward the coordinate values in the two directions present for each of the calculated target moving points with the respective target moving points set as an origin. The controller sets positions at tips of the vectors as amplified attitude coordinate values in the first and second directions, respectively. 【課題】ロボットの手先がワークを把持して加工を行う場合の作業精度を向上させる。【解決手段】制御装置は、手先の先端点を座標原点とするＸ方向，Ｙ方向，Ｚ方向の各軸につき手先の位置及び姿勢をティーチングする場合、座標原点から各軸方向の所定距離に手先の姿勢を定める姿勢点を設定すると、ティーチングした姿勢に対応する姿勢点の間の各軸の姿勢点の移動軌跡が夫々滑らかに繋がるように補間する。具体的には、回転行列変換処理されて座標化されたＸ，Ｙ，Ｚのうち所定の２方向の成分で定義される移動目標点での姿勢を計算するため何れか２つの方向姿勢座標値を計算し、計算された移動目標点毎に存在する前記２つの方向の座標値につき各移動目標点を原点に前記２つの方向の座標値夫々に向けた単位ベクトルを形成するとそのベクトルの先の位置を夫々増幅第１，第２方向姿勢座標値とする。【選択図】図１