CONTROLLER, CONTROL METHOD AND PROGRAM

摘要

PROBLEM TO BE SOLVED: To reduce vibration without requiring new hardware and changing tact time.

SOLUTION: A parameter generation part 102 generates a parameter for calculating a locus, which results from excluding a frequency component corresponding to a resonance frequency from an acceleration locus of a movable part, in each predetermined transit time, with respect to reference distance. A database 103 stores the parameter supplied from the parameter generation part 102. A parameter determination part 104 determines the parameter for calculating the locus which results from excluding the frequency component corresponding to the resonance frequency from the acceleration locus of the movable part. A locus calculation part 105 calculates the locus from the determined parameter. The invention is applicable to a controller for controlling a robot.

COPYRIGHT: (C)2013,JPO&INPIT