Patent ID: 9242376
Filing Date: 2016-01-26
CPC Classification: B25J,G05B

Claim Text:
1. A method of controlling drive of a multiaxial robot having a plurality of movable axes configured by a plurality of links and a plurality of joints, an end effector being arranged at an extreme end of the plurality of links, the method comprising steps of: specifying positions, in a control unit, of a start point of a path and an end point of the path in a three-dimensional space in which the plurality of movable axes are allowed to move three-dimensionally, the end effector being made to move on the path from the start point to the end point when the movable axes are actually driven; and generating, joint by joint, velocity patterns of first and second joints to drive respectively first and second joints among the plurality of joints on the basis of the specified positions of the start and end points, the second link being positioned closer to the end effector than the first link, the velocity patterns enabling the second link to move to cause i) a reaction for increasing an acceleration force generated by the first joint when the end effector is started to move from the start point toward the end point, and ii) a reaction for increasing a deceleration force generated by the first joint when the end effector is stopping to the end point, wherein, the velocity pattern for the first joint includes an accelerated-movement pattern range provided when the end effector is started to move from the start point, a decelerated-movement pattern range provided when the end effector is stopping to the end point, and a uniform movement pattern range intervening between the accelerated-movement and decelerated-movement pattern ranges; and wherein in order to cause the reaction, the second link is moved in a direction which is opposite to a direction in which the first joint is moved; and controlling drive of the first and second joints on the basis of the velocity pattern.