APPARATUS FOR CONTROLLING ROBOT

摘要

PURPOSE: A robot control device is provided to shorten calculation time by processing the vector operation and the Jacobian matrix in parallel. CONSTITUTION: A robot control device comprises an input unit(110), a kinematics analysis unit(120), and a control unit(130). The initial setting parameter, the present joint value, and the target position are input to an input unit. The kinematic analysis unit calculates target joint value of a joint for moving an end effector of a robot(100) to a target position. The control unit controls each joint of the robot in order to follow the target joint value. The kinematics analysis unit is implemented as FPGA (Field-programmable Gate Array). [Reference numerals] (100) Robot; (110) Input unit; (120) Kinematics analysis unit; (130) Control unit