Robot controller with parallel processing of plural weighted position data which is combined at output to form a single command

摘要

A robot controller including a movement command forming unit, object position variable forming unit, a compressing/enlarging unit, a plurality of position control units, and an object position command unit. The movement command forming unit specifies the formation of a plurality of movement object positions. The object position variable forming unit forms a position variable used to correct a position deviation from a previously taught position or a manually entered position. The compressing/enlarging unit operates to compress or enlarge object position variables outputted by the object position variable forming unit. The position control unit receives respective object position variables to perform velocity control and position control. The object position command unit adds the output signals of the position control units to output an object position command, according to which the robot is moved to the object position.