| 摘要 |
To provide an acceleration/deceleration control method, apparatus and the like for determining the acceleration/decelerations of motors according to, for example, the drive directions, acceleration and deceleration of the motors by a simple algorism. A gravity torque calculation unit (1A) calculates gravity torque (Tg) acting on a joint drive motors for operating a manipulator (100) as a machine having joints, and an acceleration/deceleration calculation unit (1D) calculates an acceleration speed and/or a deceleration speed of the joint drive motor based on an acceleration/deceleration correction coefficient and a set basic acceleration/deceleration, wherein the acceleration/deceleration correction coefficient is calculated by an acceleration/deceleration correction coefficient calculation unit (1B) based on the gravity compensation coefficient selected from a plurality of preset gravity compensation coefficients (Kg) according to a drive condition affected by gravity and on the gravity torque.
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