Unit 5 Industrial Robot工业机器人.pptVIP

* * * * * * * * * * 2. Programming a Robot In joint interpolation, each of the robot joints is moved at a constant rate so that all the axes start and stop at the same time. [7] For Cartesian robots, straight-line and joint-interpolation schemes produce the same path. For the other types of robot systems, this is not true. 在关节插补中，机器人的每一关节都以一恒定速度移动以保证所有的轴同时启动和停止。对于笛卡尔机器人，直线和结点插补方案产生相同的路径。对于其他类型机器人系统，这不成立。 2. Programming a Robot Pendant programming systems normally have supplemental commands that allow the programmer to perform auxiliary operations such as close the end-effector, wait, pause, ch