| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a robot control device that can prevent an end effector fitted on a robot and a work on a conveyer from colliding with each other, and provide a robot system equipped with the device and a robot control method. <P>SOLUTION: A robot control device 10 includes a horizontally moving time calculator 15a for calculating horizontally moving time required for the end effector to reach a point above a position of a work when the end effector moves to above the work, a follow-up moving time calculator 14 for calculating follow-up moving time required for a speed of the end effector and a speed of the work to become equal, and a downward motion setting part 16 for comparing the horizontally moving time and the downward moving time to set the termination time of the downward motion of the end effector before the end effector reaches above the work. When the horizontally moving time is shorter than the follow-up moving time, the downward motion setting part 16 sets the termination time of the downward motion of the end effector to the time subsequent to the follow-up moving time that has elapsed after the start of the motion of the end effector. <P>COPYRIGHT: (C)2012,JPO&INPIT |
