ROBOT CONTROLLING DEVICE, ROBOT APPARATUS, ROBOT CONTROL METHOD, PROGRAM FOR EXECUTING ROBOT CONTROL METHOD, AND RECORDING MEDIUM ON WHICH PROGRAM IS RECORDED

摘要

Disclosed is a technique that reduces the amount of calculation necessary for time optimal control. An interpolation function calculating part 361 calculates an interpolation function that passes through a plurality of interpolated teach points for interpolation between respective teach points. Further, a differential coefficient calculating part 362 calculates each differential coefficient obtained by differentiating each vector component included each interpolated teach point by a variable number of the interpolation function. Further, an estimated value calculating part 365 calculates an estimated velocity of each joint in each interpolated teach point on the basis of each pass velocity and each differential coefficient. Further, a time optimal controlling part 369 changes the respective pass velocities and minimizes an objective function obtained by integrating reciprocal numbers of the respective pass velocities by a variable number under a constraint condition including a condition that the ratio of the estimated velocity of each joint and a predetermined allowable velocity is within a predetermined constraint range. A position command generating part 373 generates a position command by substituting, whenever a pass velocity function is time-integrated by a value of a predetermined time interval, a value of the integration in the variable number in the interpolation function.

主权项

1. A robot controlling device that outputs a position command at a predetermined time interval to a drive controlling unit that controls an operation of each actuator for driving each joint of an articulated robot so that each joint is operated to sequentially follow a plurality of teach points including a teach position of each joint as a vector component, comprising a calculating unit,
wherein the calculating unit executes: an interpolation function calculation process of calculating an interpolation function that passes through a plurality of interpolated teach points for interpolation between the respective teach points; a differential coefficient calculation process of calculating each differential coefficient obtained by differentiating each vector component included in each interpolated teach point by a variable number of the interpolation function; a temporary setting process of temporarily setting each pass velocity indicating a differential value obtained by time-differentiating the variable number in each interpolated teach point; an estimated value calculation process of calculating an estimated velocity of each joint in each interpolated teach point on the basis of each pass velocity and each differential coefficient; a time optimal control process of changing the respective pass velocities and minimizing an objective function obtained by integrating reciprocal numbers of the respective pass velocities by the variable number under a constraint condition including a condition that the ratio of the estimated velocity of each joint and a predetermined allowable velocity is within a predetermined constraint range; a pass velocity function calculation process of calculating a pass velocity function from each pass velocity obtained in the time optimal control process; and a position command generation process of generating the position command by substituting, whenever the pass velocity function is time-integrated by a value of the predetermined time interval, a value of the integration in the variable number in the interpolation function.