| 摘要 |
PROBLEM TO BE SOLVED: To make motion smooth and highly speeding without vibration in portal motion of a robot made of rising, horizontal and lowering motion. SOLUTION: This robot control device is furnished with a horizontal motion time computing means to find motion time of the horizontal motion, a duplicate motion time computing means to find a sum of the motion time of the rising motion and the lowering motion moving in duplicate with the horizontal motion and a vertical motion accelerating and decelerating time adjusting means to change decelerating time of the rising motion and accelerating time of the lowering motion long in the case when the horizontal motion time is longer than the duplicate motion time.
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