| 摘要 |
PROBLEM TO BE SOLVED: To provide a robot device comprising at least two or more robots, providing good workability such that a desired speed can be achieved when the robots are brought into cooperative synchronous motion or non-cooperative synchronous motion. SOLUTION: The operation control part 8 of a control device 5 has a reference determining part 9 for determining a manipulator that serves as a reference for operating speeds, an interpolation time calculating part 10 for calculating interpolation time, and an operating speed checking part 11 fore determining whether or not manipulators other than the reference one are operable based on the interpolation time. While an operating program for the cooperative synchronous motion is being executed and the amount of relative movement of the reference robot is not greater than a set value, speeds are determined based on the amount of movement of a robot other than the reference robot, whereby the motion of each robot is smoothened to be realize the robot device of good workability.
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