Robot capable of generating patterns of movement path

Abstract

A robot which is capable of automatically generating movement path patterns based on taught data and in which a data teaching operation associated with pattern generation is simplified and no special data teaching is required even when the pitch between pattern segments is to be changed. During a manual robot operation, when start and end points (P0, Pn) of a spraying pattern which consists of a series of subpatterns, and a first cornering point (P1) of a first subpattern are taught to the robot, taught data representing these three point is stored in a robot control unit, together with a spraying command code and a spraying pitch (d) taught separately. During a playback robot operation, in response to the spraying command code, a vector (A) directed from the start point (P0) to the first cornering point (P1) and a vector (D) directed from the first cornering point (P1) to a second cornering point (P2) are calculated based on the taught data and the pitch. Each time a plasma jet torch reaches one of the start point, first to third cornering points and end point of a subpattern, the end point of a corresponding one of the vector (A), the vector (B), and a vector derived by reversing the vector (A), all having a start point thereof coinciding with the reached point, is determined as a new target position, thereby generating a spraying pattern.