Installation manual

Chapter 6 Programming
6-16
（３）Designated Absolute Position/Orientation Control
The tip matrix (T-matrix) on the base coordinate system and each axis value for
restriction data are provided.
ｎx ｏx ａx ｐx
T-matrix ： ｎy ｏy ａy ｐy
ｎz ｏz ａz ｐz
Target matrixes are as follows:
・Absolute position target matrix: controls only positions and orientation does not
change.
・Absolute orientation target matrix: controls only orientation and positions do not
change.
・Absolute position/orientation matrix: controls positions and orientations.
Control methods:
・The input tip position/orientation becomes the target position/orientation.
・The tip position is interpolated linearly.
・The rotation angle of the tip orientation is interpolated.
・Calculates the motion and the rotational velocity from a default tip motion and
rotational velocity of the arm parameter.
Vxyz : Default tip linear velocity
Vypr : Default tip rotational velocity
△xyz : Tip position motion value
△ypr : Tip orientation rotation angle
Txyz = △xyz／Vxyz : Time taken for tip motion.
Typr = △ypr／Vypr : Time taken for rotation.
If Txyz ≧ Typr, “Vxyz” becomes the standard.
If Txyz ＜ Typr. “Vypr” becomes the standard.