| 摘要 |
PURPOSE:To smooth an action, by providing a virtual through point arithmetic means. CONSTITUTION:A targeted position acceptor 1 stores a targeted position PE and the kind of an orbit commanded from the outside. An original targeted position register 2, when the targeted position being changed in a case where the targeted position acceptor 1 stores an original targeted position PE*, stores the original targeted position and orbit. A current position storing means 3 stores the position information of a robot arm when receiving the targeted position to be updated. The virtual through point arithmetic means 4 calculates a position (virtual through point) where a robot is decelerated from a current position and is stopped on the orbit. A through orbit arithmetic means 5 connects an orbit part from an updated targeted position to the virtual through point to the orbit part from the current position to the virtual through point smoothly. A target change orbit generator 6 calculates the position which moves a manipulator from the current position to the updated targeted position via a through orbit.
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