| 摘要 |
PROBLEM TO BE SOLVED: To provide an industrial robot for simultaneously operating a manipulator and auxiliary devices, which industrial robot can accurately move a tool along the specified path on a workpiece. SOLUTION: A smoothing means (S9) provided in a control unit 13 calculates a smoothed position/posture J<SB>p_smooth</SB>by smoothing a position/posture J<SB>p</SB>of a positioner 12 to be defined by a positioner device path equation (J<SB>p</SB>(t)) so as not to exceed a critical acceleration/deceleration A<SB>p</SB>. The control unit 13 outputs the articulation angle J<SB>m</SB>calculated based on the smoothed position/posture J<SB>p_smooth</SB>to the manipulator 11 as a command signal, and outputs the smoothed position/posture J<SB>p_smooth</SB>to the positioner 12 as a command signal. COPYRIGHT: (C)2006,JPO&NCIPI
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