| 摘要 |
PURPOSE:To always change a moving speed of a robot at a taught time point by changing the moving speed of the robot element in advance by an intermediate speed of between speeds of before the change and after the change, in a prescribed time before the time point when said speed is to be changed. CONSTITUTION:In a control device 1, a speed change time point calculating means 3 calculates in advance a speed change time point (i)=20 from a taught position data, and a command value output means 4 outputs such a command value as becomes a speed of 8 points per one control period extending from a time point (i)=15 of 5 control periods before said time point (i)=20, to its speed change time point (i)=20. That is to say, instead of stored teaching points Q15-Q20, preceding speed change points P15-P20 are indicated to an X axis 11. Therefore, the X axis 11 tries to trace the speed change points P15-P20, but a realization of a speed change is delayed as shown by a one point chain line due to a follow-up delay. However, a speed change point P'20 which is delayed and realized coincides roughly with the speed change point Q20 of the original teaching data. In the long run, the X axis 11 can be moved faithfully to teaching points Q12-Q23. |
