| 摘要 |
A robot control apparatus and a control method which, in moving a tool along a synthesized trajectory where at least two operations are synthesized in middle of a desired trajectory, eliminates the need for arithmetic processing for determining synthesized trajectory, thereby drastically shortening processing time required for preprocessing for robot control. Control values for preceding operation and those for succeeding operation are calculated from initial to terminal values, respectively. With a requirement that initial values for succeeding operation, be matched to terminal values for preceding operation being added, target control values at this time for an actuator in a section where a tool is moved along the synthesized trajectory are calculated on the values obtained by adding values of difference between this time and a previous time for preceding operation to values of difference between this time and the previous time for succeeding operation, and actuator is controlled such that calculated target control values are attained.
|
