机器人、机器人的控制方法及其电脑程式产品;ROBOT, METHOD FOR CONTROLLING ROBOT AND COMPUTER PROGRAM PRODUCT THEREOF

摘要

一种机器人、机器人的控制方法及其电脑程式产品，能够正确再现目标轨迹并且能够防止涂布材料发生结块。机器人连接于涂布装置，该涂布装置包括收容有涂布材料的收容容器、及将涂布材料涂布至被涂布物的涂布部，且该涂布装置通过供给用马达的动力来将涂布材料从收容容器供给至涂布部，机器人包括：保持部，使涂布部相对于被涂布物而相对移动；供给量调整部，对涂布装置的涂布材料的供给量进行调整；以及移动速度决定部，对保持部的移动速度进行设定；且供给量调整部包括算出针对供给用马达的指令脉冲率的脉冲率运算部。; the coating device includes an accommodation container accommodating the coating material, and a coating part coating the coating material to a coated object; and the coating device supplies the coating material to the coating part from the accommodation container with the power of a motor for supply. The robot includes a holding part making the coating part move relatively with respect to the coated object, a supply quantity adjustment part adjusting supply quantity of the coating material of the coating device, and a movement speed deciding part setting up a movement speed of a holding part, and the supply quantity adjustment part includes a pulse rate operation part which computes a command pulse rate to the motor for supply.