| 摘要 |
PROBLEM TO BE SOLVED: To provide a multi-axis robot trajectory generation method capable of achieving shorter operation time.SOLUTION: In a case of calculating a speed pattern using a Bobrow method, the speed pattern is calculated by converting a position on a trajectory to an angle, whereby a highest speed pattern using both of right and left hands without limiting an arm form of a robot 1 to any one of the right hand and the left hand is obtained. A trajectory of a fingertip for moving the fingertip located on a tip end of a link of a multi-axis robot from a start point to an end point is formed. A start point position and an end point position are designated and an initial via-point is created between the start and end points. Coordinate positions of the designated start and end points and the created initial via-point are converted to angles of axes of a plurality of joints. Next, on the basis of the start point, end point, and initial via-point converted to the angles, a trajectory is formed such that the fingertip moves from the start point to the end point in shortest time while changing the initial via-point. |
