| 摘要 |
<p>PROBLEM TO BE SOLVED: To provide a robot control system, a robot, a path creation device, a path creation method, a path creation program etc. in which path calculation processing speed can be made fast.SOLUTION: A robot control system 10 includes a moving path calculation part 112 which calculates a moving path of an end point of an arm 320 of a robot 30 and a robot control part 120. The moving path calculation part 112 acquires the present point CP which is the present position and the present posture of the end point, a target point TP which is a target position and a target posture of the end point, and an allowance range (RGi) of a relay point RPi which is a position and a posture of the end point that relays the path from the present point CP to the target point TP. And, the moving path calculation part 112 implements path determining processing for determining the joint angle of the joint of the arm 320 so that the relay point RPi is positioned in the allowance range (RGi).</p> |
