| 摘要 |
PROBLEM TO BE SOLVED: To provide a robot control apparatus and a control method capable of suppressing the travel speed of an arm sufficiently.SOLUTION: A controller 30 is applied to a robot 10 having an arm and including: a plurality of rotary parts 13 to 18; articulates for connecting the rotary parts rotatably relative to each other; and servomotors for driving the individual rotary parts. The controller 30 comprises: angular speed calculation means for calculating an angular speed for driving each servomotor for every operation cycle; selection means for selecting all articulations, which are disposed closer to an arm root side than a monitoring part having the highest velocity in the arm, as speed reducing object shafts, on condition that the maximum one of the speeds of the monitoring parts set at every rotary parts 13 to 18 is higher than the reference speed; and angular speed lowering means for setting the servomotors for rotating the speed reducing object shafts selected, as reduction object motors, and for lowering the angular speeds to drive the reduction object motors, so that the speeds of the individual monitoring parts may be at or lower than the reference speed.SELECTED DRAWING: Figure 1 |
