| 摘要 |
<P>PROBLEM TO BE SOLVED: To reduce energy to be consumed when performing a PTP operation without prolonging an operation time. <P>SOLUTION: When performing a PTP control of a robot, arithmetic processing for calculating a speed command to drive each shaft so that the operation time at each shaft unit is the shortest is executed, and timing determination processing for determining timing for executing each of the calculated speed commands is executed. In the timing determination processing, the speed command is set to a reference pattern in order from the speed command having the longest operation time, and it is determined whether deceleration of a comparison pattern to be the speed command having the next longest operation time can be finished till the deceleration of the reference pattern is started. As a result of the determination, when the deceleration of the comparison pattern can be finished up to starting of the deceleration of the reference pattern, timing for executing the comparison pattern is determined so that an operation finishing point of time of the comparison pattern coincides with a deceleration start point of time of the reference pattern. <P>COPYRIGHT: (C)2013,JPO&INPIT |
