| 摘要 |
<p>PROBLEM TO BE SOLVED: To provide a trajectory forming method capable of improving an operation speed with respect to a robot having a vertical movement shaft.SOLUTION: A horizontal four-axis type robot provided with a shaft is set as a control object. When forming a trajectory for moving a fingertip from a beginning point to an ending point, a controller determines an allowable bending moment Mmax from a bending moment M and a torsional moment T operating on the shaft (S21). Further, the largest acceleration Amax of the fingertip is determined (S22) in accordance with mass of a fingertip part, the allowance bending moment Mmax and a vertical position d of the fingertip, the maximum acceleration Amax is converted to an acceleration restraintλ"max on a trajectory of the fingertip and acceleration conditions are set (S23).</p> |
