Patent ID: 7047107
Filing Date: 2006-05-16
Classification: B25J,G05B

Abstract:
1. A robot control apparatus comprising: an input section for inputting and specifying a speed command value of a robot and position information of a monitor point; a parameter storage section for storing the speed command value of the robot and the position information of the monitor point; a locus generation part for generating a movement command for driving each joint part based on a movement command of the robot; a control point speed control part for obtaining movement speed of each joint part as a control point based on the movement command from the locus generation part; a monitor point speed control part for obtaining motion speed of the monitor point based on the motion speed of each control point from the control point speed control part and the position information of the monitor point stored in the parameter storage section; a motion command part for selecting the maximum motion speed among motion speed of each control point and the motion speed of the monitor point as the maximum motion speed to compare the maximum motion speed with the speed command value and changing and outputting the movement command so that the motion speed of the control point or the monitor point of the maximum motion speed becomes the speed command value or lower when the maximum motion speed exceeds the speed command value; and a driving control part for driving the robot based on the motion speed outputted from the motion command part.