| 摘要 |
PROBLEM TO BE SOLVED: To provide a trajectory generation apparatus for a robot which automatically generates a trajectory while controlling deceleration of the robot.SOLUTION: A trajectory generation apparatus for robot 11 comprises: a load determination unit 22 which compares a load applied to a component of a robot when the robot is operated on a reference trajectory with a load determination value; and a speed reduction unit 23 which reduces a speed of the robot when the load is greater than the load determination value. The trajectory generation apparatus 11 further includes: a comparison trajectory generation unit 24 which sets a comparison teaching point obtained by changing the position of a reference teaching point when the speed is reduced, and generates a comparison trajectory, based on the comparison teaching point; and a trajectory selection unit 25 which compares a transit time of the comparison trajectory with a transit time of the reference trajectory and selects a trajectory of the shorter transit time.SELECTED DRAWING: Figure 1 |
