| 摘要 |
PURPOSE:To shorten the total operation time by calculating an angular speed at passage points up to the target point of the movement of a robot with last instructions and then performing counting operation by using calculated values stored in a calculated value storage part. CONSTITUTION:A robot controller 6 consists of a robot control circuit 2 equipped with a servo mechanism 21, a control part 22, and a sensor part 23 which control the rotation of the angle of each articulation of a robot 1, a time 3 which generates a sampling period, a processor 5, an external storage device 6, and a memory 5 for storing data, etc., read out of the external storage device 6. In this case, the calculated value storage part 7 is provided which stores a calculated value obtained with the last instruction. Then, the angular speed at passage points up to the target movement position of the robot 1 is calculated by using the calculated values stored in the calculated value storage part 7 to control the operation of each articulation of the robot 1 through the servo mechanism part 21.
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