| 摘要 |
PROBLEM TO BE SOLVED: To provide the robot controller which can optimize a tact time according to the capability of a manipulator without changing a track along which a robot is moved and improve operation quality, productivity, safety, etc., by securing track precision. SOLUTION: An arithmetic processor in the controller 1 finds the gun tip position xf and attitude Rf of a coating gun 18 from the anglesθ1-θ6 of rotation of a swivel base 8 for 1st-6th axes, a 1st arm 10, etc., and finds a tentative angular velocity commandθ'dum on the basis of them. Then this is compared with maximum angular velocities of the respective axes to find such an angular velocity commandθ'com that the angular velocity command value of an axis having the least margin in angular velocity is the maximum angular velocity of the axis, and a command signal corresponding to it is outputted. Further, an angular velocity command matching the torque of an axis having the least margin in motor torqueτis found and a command signal is outputted.
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