| 摘要 |
<p>PROBLEM TO BE SOLVED: To reduce power consumption at the time of warm-up operation of a robot.SOLUTION: A longest durationΔtmax(Δt2) is extracted which is the longest among durationsΔt1 toΔt6 required by a motor of joints J1 to J6 respectively of a robot to achieve warm-up target temperatures Tg1 to Tg6 respectively. Start times ts1, and ts3 to ts6 for electrifying the motors of the joints J1, and J3 to J6 are delayed to be later than a start time ts2 for electrifying the motor of the joint J2. Then, the start times ts1, and ts3 to ts6 for electrifying the motors of the joints J1, and J3 to J6 are set to a time point in a period after the start time ts2 for electrifying the motor with the longest durationΔtmax(Δt2) until a time tss at which a warm-up target temperature is achieved.</p> |
