| 摘要 |
PROBLEM TO BE SOLVED: To provide a robot control system, a robot, a robot control method, a program for generating a smooth trajectory on the basis of through points, in the case where a plurality of points, through which a robot passes, are designated.SOLUTION: A robot control system comprises a trajectory plan unit 103 and a robot control unit 105. The trajectory plan unit 103: sets a time length of each processing segment among first to Pth processing segments; performs a first interpolation processing on the basis of first to P-th processing segments and the values of joint angles at first to M-th through points; an updating processing of the time length of a k-th processing section in a k-th processing section on the basis of the articulation angular velocities of first to N-th joints, as specified from the result of the first interpolation processing; and a trajectory planning process for performing a second interpolation processing, on the basis of the processing section after the updating process and the values of the joint angles at the first to M-th through points. |
