Patent ID: 7729804
Filing Date: 2010-06-01
Classification: B25J,G05B,Y02P

Abstract:
1. A robot controller that moves each standard moving part installed on each of a plurality of robots from each movement start position set for each of the robots to each synchronous operation position set for each of the robots and simultaneously performs operations of the robots, comprising: first movement time calculating means for calculating, for each of the robots, first movement times tot second movement time deciding means for deciding a longest first movement time among the first movement times tot operation plan generating means for generating, for each of the robots, an operation plan of speed change of the standard moving parts for moving the standard moving parts, without stopping, from each of the movement start positions to each of the synchronous operation positions in the second movement time tot_max decided by the second movement time deciding means; operation completion judging means for judging an operation completion condition in which the robot can execute a next operation plan; and robot controlling means, when judging by the operation completion judging means that all of the robots to be simultaneously operated enter the operation completion condition, for simultaneously controlling each of the robots in accordance with next operation plans of each of the robots, which is generated by the operation plan generating means, wherein the operation plan generating means, when the first movement times tot wherein ta