| 摘要 |
PROBLEM TO BE SOLVED: To provide a robot control method for simplifying the teaching of a robot by generating the same target locus at the time of over-ride change as that at the time of over-ride 100% even at the time of connecting locus. SOLUTION: A virtual time is introduced, and the virtual time is updated in each position command generation cycle. Then, the change rate of the virtual time is changed according to the over-ride value, and the generation of the position command is operated based on not a real time but the virtual time.
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