| 摘要 |
PROBLEM TO BE SOLVED: To shorten time since start of robot trajectory calculation until start of robot motion and improve article productivity by a robot while ensuring the reliability of the robot motion and reducing a calculation load on a simulator.SOLUTION: A control device 200 sequentially calculates trajectory data from a start point to an end point, and transmits partial trajectory data completed with calculation to a simulator 300 one after another. The simulator 300 conducts a motion simulation for moving a virtual robot in accordance with the partial trajectory data received from the control device 200 one after another, and when a robot 100 is stopped as a result of the motion simulation, transmits a stop signal to the control device 200. The control device 200 starts moving the robot 100 at time delayed from time of calculation of the simulator 300. The control device 200 stops moving the robot 100 when receiving the stop signal from the simulator 300.SELECTED DRAWING: Figure 1 |
