| 摘要 |
PROBLEM TO BE SOLVED: To solve a problem that moving speed in a robot handling job is fixed at the starting point to the end and cannot be increased when the speed of anyone of axes reaches a limit even if a certain margin exists in a time and path in operation of the robot handling job. SOLUTION: Multi-axis machines (31, 32, 33) having an interpolating function such as straight line interpolating and circular-arc interpolating generate the operation command thereof by adding (38, 39) each axis operation command (35, 36, 37) generated by interpolating a part between teaching points and each axis operation command (34, 37) calculating the point between the teaching points by the minimum operation of each axis at a designated rate.
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