| 摘要 |
PROBLEM TO BE SOLVED: To provide a robot controller capable of improving durability of a robot without largely spoiling tact time.SOLUTION: A robot controller 300 transmits driving force from electric motors 211-216 to joints J1-J6 to control a robot arm 200 to be driven so as to pass through specified orbits P-Pon the basis of command values to be commanded to the respective electric motors 211-216. An operation part calculates jerk constraint values of the respective joints so that load torque to be added to a transmission element becomes within an allowable range by using a vibration model of the joints. Then, the operation part generates the command values to the electric motors 211-216 by solving an optimization problem using constraint conditions including the calculated jerk constraint values of the respective joints as inequality constraints. |
