| 摘要 |
PROBLEM TO BE SOLVED: To solve the problem of a manipulator not passing through a terminal point and/or an inner side start position of a specified orbit when moving average processing is applied to two consecutive velocity waveforms in order to smooth operation.SOLUTION: A start point determination unit 23 comprises: an instruction information storage unit 21 in which instruction information which indicates an instruction point is stored; and a start point determination unit 23 which determines, for a first velocity waveform which is temporal variation of velocity according to a first orbit indicated by instruction information, the start point of a second velocity waveform which is temporal variation of the velocity according to the second orbit following the first orbit. By applying finite impulse response filter processing to the first and the second velocity waveforms which are connected using the determined point, a new velocity waveform is obtained. When a manipulator 3 is controlled using the velocity waveform, the manipulator 3 passes through a terminal point and an inner side start point and the like of the first orbit. Thus, while smooth operation is achieved, precision can be ensured due to the manipulator 3 passing through the specified positions. |
