Installation manual

Chapter 6 Programming
6-90
NOTE:
As an example, if teach data consisting of PTP axis interpolation data for two points is
acquired:
1
st
point target axis angle ： Ｔ1[7]
2
nd
point target axis angle ： Ｔ2[7]
When moving to the 1
st
point, if RMRC control is employed, the tip position/orientation
matches the 1
st
point target tip position/orientation. But, The possibility for each axis
angle to match is low. (This is the difficulty of the 7-axis manipulator control.)
To summarize, when arm arrived at 1
st
point, each axis angle cannot match T1[7].
Taking into account of such case, interpolation in axis angle feedback control calculates
the target angle every sampling moment interpolating the current axis angle and the next
target axis angle (T2[7]).
Interpolation processing with axis angle feedback control in the playback control, has a
slight difference from the method explained in the section 3.3.
In the section 3.3, the maximum interpolation number is obtained as the result of
dividing each axis angle deviation by each axis default velocity (θi) of 7 axes. Then,
interpolation processing is performed.
Regarding the axis angle control in playback control, only one axis default velocity can
be memorized as teach data. For this reason, all 7 axes are interpolated using one axis
default velocity (default = ２π[rad/sec]).