| 摘要 |
PROBLEM TO BE SOLVED: To make a robot pass through a teaching point by forming a path of a robot point by selecting a proposed point as an operation point. SOLUTION: When the teaching work is terminated, an operator sets a controller in a learning mode. In the learning mode, a path formation part forms an operation path so that a robot point passes through the teaching points P0-Pn. To form the operation path to make the robot point pass through teaching points Po-Pn without fail in the continuous operation, the operation points Q0-Qn+1 are determined besides the teaching point P0-Pn. In a case when the CP control is executed to linearly move the robot point among the operation points Q0-Qn+1, the teaching points P0-Pn are made to exist within a range capable of moving at a uniform speed when that a speed pattern is a trapezoid pattern.
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