Robot control device and control method
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United States of America Patent
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Dec 1, 2015
Grant Date -
Apr 4, 2013
app pub date -
Nov 22, 2011
filing date -
Nov 26, 2010
priority date (Note) -
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status (Latency Note)
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Abstract
A robot control apparatus and a control method for moving a tool along a synthesized trajectory where at least two operations are synthesized in the middle of a desired trajectory. Control positions for a preceding operation and those for a succeeding operation are calculated from initial to terminal values, respectively. With a requirement that initial values for the succeeding operation be matched to terminal values for preceding operation, target control positions at a predetermined time for an actuator in a section where a tool is moved along the synthesized trajectory are calculated on the basis of values obtained by adding values of a difference between the predetermined time and a previous time for the preceding operation to values of a difference between the predetermined time and the previous time for the succeeding operation, and the actuator is controlled such that calculated target control positions are attained.
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