Patent ID: 6684131
Filing Date: 2004-01-27
Classification: B25J,G05B

Abstract:
A robot controller comprising:(a) a first storage unit for storing movement data which includes an amount of movement of a robot and an amount of time for movement of said robot; and (b) a calculator for determining whether or not the movement data stored in the first storage unit will cause said movement of said robot with over acceleration exceeding a predetermined level; if the determining shows said over-acceleration, the calculator generates a) a correction for the movement data reasonable for the over-acceleration at a present step of movement and b) corrections for movement data for steps preceding and following said present step of movement; and (c) second calculator for correcting the movement data responsible for the over-acceleration, the preceding and the following movement data to the movement data so that each time for movement is increased, if the calculation by the first calculator indicates the over-acceleration, wherein the second calculator provides a degree of increase in the time for movement to the preceding and the following movement data lower than a degree of increase in the time for movement provided to the movement data responsible for the over-acceleration.