| 摘要 |
The present invention relates to a method and a system for controlling a robot. When an acceleration time (t1), a deceleration time (t2), a moving distance (D), the maximum velocity (V) of a robot are set. the present invention calculates an uniform velocity (v) in the uniform velocity section, a changed acceleration time (t1'), and a changed deceleration time (t2') so that the robot moves the moving distance for the total moving time (T) while accelerating at the acceleration of V/t1, driving at an uniform velocity, and decelerating at the deceleration of -V/t2 depending on the total moving time (T). The present invention can control the robot to move the distance (D) for the total moving time (T) by accelerating at the acceleration of V/t1 for the changed acceleration time (t1'), driving at the uniform velocity for the uniform velocity time (T-t1'-t2'), and decelerating at the deceleration of -V/t2 for the changed deceleration time (t2'). [Reference numerals] (AA) Velocity; (BB) Time |
