| 摘要 |
PROBLEM TO BE SOLVED: To control driving patterns of plural driving members by a robot controller having no function for storing a calculation formula for operating working tools at a prescribed trajectory pattern. SOLUTION: This robot controller 35 is provided with a memory 44 storing data of the driving pattern of the driving members according to the pattern of the trajectory of the working tool and a CPU(central processing unit) 43 reading the data and transmitting control signals to the driving members. A main controller 36 is provided with a program storage part 52 storing the calculation formula of the driving patterns of the driving members according the pattern of the trajectory of the working tool, a coordinate data storage part 53 storing the coordinate data of the driving pattern of the driving members, and a driving curve compilation part 57 as a main arithmetic operation processing part calculating the control signals of the driving members. The driving data corresponding to the driving patterns of the driving members calculated by the driving curve compilation part 57 is transmitted to the memory 44.
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