| 摘要 |
A robot controller resolving a path deviation caused in relation to override processing or temporary stop. A motion planning section constituting software of the robot controller forms a motion plan of a robot with no consideration of overriding and outputs it to an interpolation processing section. The interpolation processing section carries out interpolation processing at each period of calculation processing, calculates a motion amount at each ITP and outputs it to a filtering section. An output filtered for acceleration or deceleration control at the filtering section is processed by an overriding processing section having an operational shutter. An output after the processing to which an override value beta (0</= beta </=1) common to respective axes has been applied is constituted by velocity and acceleration respectively multiplied by beta and beta 2. Acceleration or deceleration of two operation is uniformly exhausted at a corner portion where two operation overlap and, therefore, path error is not caused. Even when overriding is changed in passing through the corner portion, operation is similarly carried out. By gradually changing overriding in deceleration and acceleration before and after a temporary stop, path deviation accompanied by a temporary stop can also be resolved.
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