| 摘要 |
PROBLEM TO BE SOLVED: To break through a situation that interference occurs or a cycle time is prolonged as a result of a failure in appropriately designating a beginning point of an inward turning trajectory.SOLUTION: A calculation unit 11 includes: a teaching point information memory 21 in which teaching information representing two or more teaching points for a manipulator is stored; a shape information memory 22 in which shape information representing a position calculation shape that is a three-dimensional shape having a reference point designated and having a length in a first direction and a length in a second direction, which is a direction different from the first direction, designated independently of each other is stored; and a calculation block 23 that calculates an inward turning beginning position that is an intersection between a segment between two teaching points, which are represented by the teaching information and adjacent to each other, and the position calculation shape represented by the shape information. Owing to the components, prevention of interference and shortening of a movement time can be realized by designating appropriate shape information. |
