| 摘要 |
PROBLEM TO BE SOLVED: To provide a robot control device and robot control method capable of suppressing noise and heat dissipation during a servo lock period without a lag in the timing of decreasing a speed loop gain when servo motors that drive an arm of a robot are servo-locked.SOLUTION: A CPU 91 creates a target trajectory on the basis of plural teaching points, and detects a joint shaft which is to be servo-locked, and a period during which the servo lock is performed, on the basis of the target trajectory. Immediately prior to the beginning of the period during which servo motors 41 to 47 for the joint shaft to be servo-locked are servo-locked, on the basis of the target trajectory, the CPU 91 makes at least one of a proportional gain and an integral gain of a speed control loop smaller than a value attained prior to the beginning of the period during which the servo lock is performed. Immediately after the elapse of the period during which the servo lock is performed, the CPU 91 restores the diminished gain to an original value. |
