| 摘要 |
A robot movement control method, in which a robot is moved along a smooth path ( 10, 11 ) determined based on a teaching path defined to pass a designated starting point (TP 4 ), at least one intermediate point (TP 5 , TP 6 ) and a terminal point (TP 7 ), is disclosed. The smooth path is determined so that the coincidence between the actual path for robot movement and the teaching path is assured near the starting point (TP 4 ) or the intermediate point.
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