| 摘要 |
<p>A control device and control method for dramatically reducing processing time required for the preprocessing of robot control by eliminating the necessity, while on a desired trajectory, of calculation processing to obtain a synthesized trajectory when moving a tool along a synthesized trajectory in which at least two operations are synthesized. Pre-operation control values for implementing a pre-operation are calculated from an initial value to an end value, and post-operation control values for implementing a post-operation are calculated from an initial value to an end value. A condition is added which matches the initial value of the post-operation control values to the end value of the pre-operation control values, and on the basis of the difference value between a present value and a previous value of the pre-operation control values and the difference value between the present value and the previous value of the post-operation control values, a present target control value is calculated for an actuator for the segment of the synthesized trajectory on which the tool is moving, and the actuator is controlled so as to obtain the calculated target control value.</p> |
