| 摘要 |
<p>PROBLEM TO BE SOLVED: To provide a robot control device and robot control method that prevent degradation in control performance of a speed variation of an end effector occurring when a joint shaft is reversed.SOLUTION: A controller RC includes a CPU 91 that creates a target trajectory on the basis of plural teaching points. The CPU 91 selects a joint shaft, which is to be reversed, on the basis of a result of calculation of a moving direction of the joint shaft based on the target trajectory. During a deceleration period during which servo motors 41 to 47 of the selected joint shaft are reversed, the CPU 91 adds a value based on speed feed forward control to a speed command to be sent to a speed control loop. After the deceleration has elapsed, an integral gain of the speed control loop is increased. After a predetermined period has elapsed, the integral gain is restored to an original value.</p> |
