| 摘要 |
<p>PROBLEM TO BE SOLVED: To reduce time and efforts required for adjusting a position of an object teaching point such that a trajectory of a robot and a singular point do not interfere with each other.SOLUTION: An arithmetic unit executes computation for adjusting a position of an object teaching point among a plurality of teaching points for teaching an operation of a multi-joint robot. The arithmetic unit obtains in the following order: an interpolation trajectory L1 which interpolates between an object teaching point p2 and a teaching point p1 neighboring the object teaching point p2; interpolation points q1, q2, and q3 on the interpolation trajectory L1; a position of a singular point s close to the object teaching point p2 and respective positions of singular points s1, s2, and s3 close to the interpolation points q1, q2, and q3; and an adjustable distance of the object teaching point p2 where the object teaching point p2 does not interfere with the singular point s and where the interpolation points q1, q2, and q3 do not interfere with the singular points s1, s2, and s3.</p> |
