| 摘要 |
PROBLEM TO BE SOLVED: To prevent a drastic change in moving direction when a manipulator is moved from a starting point to a target point via a passing point designed taking disturbance into account.SOLUTION: A curve interpolation part 12 interpolates a curve in a front or rear regions of each of instructed passing points on an instructed route which is designed with straight lines connecting an instructed starting point and an instructed target point via the instructed passing points between both points. A route controlling part 13 controls a servo controller 2 at every target sections so that a manipulator 3 moves on an instructed section in a section target time. The target sections are sections sectioning a target route connecting the instructed starting point and the instructed target point with straight lines. The section target time is a divided time period of a target time which is a time period required for movement from the instructed starting point to the instructed target point. The instructed section is a section of a curve interpolation instructed route subjected to the curve interpolation according to a target section corresponding to the section target time. As a result, the manipulator 3 moves on a smooth route, and thus a drastic change in moving direction is prevented. |
