| 摘要 |
PROBLEM TO BE SOLVED: To provide a robot controller capable of more surely reducing loss in production cycle time. SOLUTION: The controller calculates an area allowing an arm 54 of a robot 51 to operate in each of right-hand and left-hand control sequences for a pallet 56 placed at a predetermined position, determines an initial work position based on a workpiece supply or removal position Pw to/from the pallet 56, and then determines a position in the pallet 56 for the robot 51 to sequentially proceed with work from the initial work position. Then, a work position adjacent to a current position Pl(n) of the arm 54 is made a subsequent work position preferentially if workable in a same control sequence, and, if not, then work is done in the same control sequence at a continuously workable position available other than the position, or otherwise a position workable in a different control sequence is made the subsequent work position. COPYRIGHT: (C)2009,JPO&INPIT
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