Patent ID: 9199373
Filing Date: 2015-12-01
Classification: B25J,G05B

Abstract:
1. A robot control apparatus, having an actuator, and changing a control position for the actuator for each predetermined control cycle for shifting a tool of a robot from a movement starting point to a movement ending point along a desired trajectory, the control apparatus, being applied in moving the tool along a synthesized trajectory where at least two operations are synthesized in a middle of the desired trajectory, and comprising: virtual operation starting/ending point searching means that searches a virtual operation starting/ending point such that a virtual operation ending point for a preceding operation to be performed before the tool gets into the synthesized trajectory matches a virtual operation starting point for a succeeding operation to be performed after the tool gets out of the synthesized trajectory; control position calculation means that calculates a control position for each control cycle for the preceding operation for implementing the preceding operation from an initial value to a terminal value, and calculating a control position for each control cycle for the succeeding operation for implementing the succeeding operation from an initial value to a terminal value such that the preceding operation is ended at the virtual operation starting/ending point, and the succeeding operation is started from the virtual operation starting/ending point temporally before the preceding operation ends; actuator target control position calculation means that calculates, with a requirement that the initial value of the control position for the succeeding operation be matched to the terminal value of the control position for the preceding operation, a target control position at a predetermined time for the actuator in a section where the tool is moved along the synthesized trajectory, on a basis of a value obtained by adding a value of a difference between the control position for the preceding operation at the predetermined time and the control position for the preceding operation at a time before the predetermined time by a time interval equivalent to the control cycle to a value of a difference between the control position for the succeeding operation at the predetermined time and the control position for the succeeding operation at the time before the predetermined time by a time interval equivalent to the control cycle; and control means that controls the actuator such that the calculated target control position is attained, such that the tool is moved along the synthesized trajectory.