| 摘要 |
PROBLEM TO BE SOLVED: To aim at positioning of a robot more accurately at a higher speed regardless of an attitude of the robot, in the case of controlling the industrial robot having a low rigidity factor, by suppressing generation of vibration in an arm tip end caused by the low rigidity factor thereof, and by particularly suppressing vibration at stopping time. SOLUTION: In this constitution, a preset moving time and a maximum speed are calculated beforehand from a moving distance and maximum acceleration (S1), sampling time is counted in a time calculation part (S3), from this count value, the lapse of time is calculated (S4), and from this lapse of time, a target acceleration generation part calculates target acceleration (S5), a position detection part detects the present position (S6), by this position an approximate expression is selected (S7), a target speed generation part calculates a target speed (S8), this target speed is converted into an actual target speed (S9), a speed detection part detects the present speed (S10), a control arithmetic part calculates (S11) and outputs (S12) a control amount so as to follow up to the actual target speed.
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