Patent ID: 7729804

Claim:
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 1 and tot 2 when moving each of the standard moving parts in a shortest time from the movement start positions to each of the synchronous operation positions; second movement time deciding means for deciding a longest first movement time among the first movement times tot 1 and tot 2 calculated by the first movement time calculating means as a second movement time tot_max; 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 1 and tot 2 of a target robot are shorter than the second movement time tot_max, generates the operation plan of speed change of the standard moving parts of the target robot so as to change acceleration times ta 11 and ta 21 , deceleration times td 11 and td 21 , times at uniform speed ts 11 and ts 21 , and maximum moving speeds V 11 and V 21 of the standard moving parts in comparison to a case that the target robot moves in the first movement times tot 1 and tot 2 according to the following equations: ta 11 =ta 1 *tot _max/ tot 1, ts 11 =ts 1 *tot _max/ tot 1, td 11 =td 1 *tot _max/ tot 1, V 11 =V 1 *tot 1 /tot _max, ta 21 =ta 2 *tot _max/ tot 2, ts 21 =ts 2 *tot _max/ tot 2, td 21 =td 2 *tot _max/ tot 2, V 21 =V 2 *tot 2 /tot _max, wherein ta 1 and ta 2 are acceleration times, td 1 and td 2 are deceleration times, ts 1 and ts 2 are times at uniform speed and V 1 and V 2 are maximum moving speeds for each robot, respectively, according to a case that the robot moves in the first movement times tot 1 and tot 2 .