| 摘要 |
PROBLEM TO BE SOLVED: To dissolve defects such as giving an impact on a mechanical system, requiring a large power, or the like when extremely raising a gain. SOLUTION: This robot control method calculates a position instruction based on a target position and a present position and having a drive device driving the robot by the position instruction. This method comprises a step (S2) of finding a moving distance between the position instruction and the present position, a step (S3) of moving the robot to a target position, when the moving distance is larger than the minimum movable distance of the robot, a step (S4) of calculating a through position so as to elongate the moving distance, when the moving distance is smaller than the minimum movable distance, a step (S5) of moving the robot to the through position, and a step (S6) of moving the robot to the target position after the step (S5). COPYRIGHT: (C)2004,JPO&NCIPI
|
